The BioMotionBot: a robotic device for applications in human motor learning and rehabilitation.
Identifieur interne : 001812 ( Main/Exploration ); précédent : 001811; suivant : 001813The BioMotionBot: a robotic device for applications in human motor learning and rehabilitation.
Auteurs : V. Bartenbach [Allemagne] ; C. Sander ; M. Pöschl ; K. Wilging ; T. Nelius ; F. Doll ; W. Burger ; C. Stockinger ; A. Focke ; T. SteinSource :
- Journal of neuroscience methods [ 1872-678X ] ; 2013.
English descriptors
- KwdEn :
- MESH :
- instrumentation : Rehabilitation, Robotics.
- methods : Rehabilitation, Robotics.
- physiology : Motor Skills.
- Biomechanical Phenomena, Humans, Software.
Abstract
Robotic manipulanda are an established tool for the investigation of human motor control and learning. Potentially, robotic manipulanda could also be valuable in the investigation of skill learning in more natural movement tasks. Most current designs have been developed for studying dynamic learning and rehabilitation and are restricted to 2D space. However, natural upper limb movements take place in 3D space, sometimes with high underlying forces. In this paper, we introduce a robotic device, the BioMotionBot, that can be used in established applications of dynamic learning and rehabilitation but also enables the investigation of skill learning in more natural 3D movement tasks with large dynamic perturbations. The design of the BioMotionBot is based on a mechanism with hybrid serial and parallel kinematics. We first describe the BioMotionBot's mechanical design, the electronic components, the software structure and the control system. To investigate the performance of the BioMotionBot, its stiffness, endpoint mass, endpoint viscosity, haptic resolution, force depth and impedance ratio are evaluated. Additionally, we develop a detailed multi-body simulation model to validate aspects of the structure and behavior of the BioMotionBot. Finally, we present experimental data from a dynamic learning task in 2D and test a 3D scenario with virtual walls. Our results demonstrate that the BioMotionBot can be used for research in human motor learning and rehabilitation and also has potential for the investigation of skill learning in more natural 3D movement tasks.
DOI: 10.1016/j.jneumeth.2012.12.006
PubMed: 23276545
Affiliations:
Links toward previous steps (curation, corpus...)
- to stream PubMed, to step Corpus: 000A59
- to stream PubMed, to step Curation: 000A59
- to stream PubMed, to step Checkpoint: 000786
- to stream Ncbi, to step Merge: 002412
- to stream Ncbi, to step Curation: 002412
- to stream Ncbi, to step Checkpoint: 002412
- to stream Main, to step Merge: 001826
- to stream Main, to step Curation: 001812
Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">The BioMotionBot: a robotic device for applications in human motor learning and rehabilitation.</title><author><name sortKey="Bartenbach, V" sort="Bartenbach, V" uniqKey="Bartenbach V" first="V" last="Bartenbach">V. Bartenbach</name><affiliation wicri:level="3"><nlm:affiliation>IPEK - Institute of Product Engineering, Kaiserstrasse 10, 76131 Karlsruhe, Germany.</nlm:affiliation><country xml:lang="fr">Allemagne</country><wicri:regionArea>IPEK - Institute of Product Engineering, Kaiserstrasse 10, 76131 Karlsruhe</wicri:regionArea><placeName><region type="land" nuts="1">Bade-Wurtemberg</region><region type="district" nuts="2">District de Karlsruhe</region><settlement type="city">Karlsruhe</settlement></placeName></affiliation></author><author><name sortKey="Sander, C" sort="Sander, C" uniqKey="Sander C" first="C" last="Sander">C. Sander</name></author><author><name sortKey="Poschl, M" sort="Poschl, M" uniqKey="Poschl M" first="M" last="Pöschl">M. Pöschl</name></author><author><name sortKey="Wilging, K" sort="Wilging, K" uniqKey="Wilging K" first="K" last="Wilging">K. Wilging</name></author><author><name sortKey="Nelius, T" sort="Nelius, T" uniqKey="Nelius T" first="T" last="Nelius">T. Nelius</name></author><author><name sortKey="Doll, F" sort="Doll, F" uniqKey="Doll F" first="F" last="Doll">F. Doll</name></author><author><name sortKey="Burger, W" sort="Burger, W" uniqKey="Burger W" first="W" last="Burger">W. Burger</name></author><author><name sortKey="Stockinger, C" sort="Stockinger, C" uniqKey="Stockinger C" first="C" last="Stockinger">C. Stockinger</name></author><author><name sortKey="Focke, A" sort="Focke, A" uniqKey="Focke A" first="A" last="Focke">A. Focke</name></author><author><name sortKey="Stein, T" sort="Stein, T" uniqKey="Stein T" first="T" last="Stein">T. Stein</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2013">2013</date><idno type="doi">10.1016/j.jneumeth.2012.12.006</idno><idno type="RBID">pubmed:23276545</idno><idno type="pmid">23276545</idno><idno type="wicri:Area/PubMed/Corpus">000A59</idno><idno type="wicri:Area/PubMed/Curation">000A59</idno><idno type="wicri:Area/PubMed/Checkpoint">000786</idno><idno type="wicri:Area/Ncbi/Merge">002412</idno><idno type="wicri:Area/Ncbi/Curation">002412</idno><idno type="wicri:Area/Ncbi/Checkpoint">002412</idno><idno type="wicri:Area/Main/Merge">001826</idno><idno type="wicri:Area/Main/Curation">001812</idno><idno type="wicri:Area/Main/Exploration">001812</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">The BioMotionBot: a robotic device for applications in human motor learning and rehabilitation.</title><author><name sortKey="Bartenbach, V" sort="Bartenbach, V" uniqKey="Bartenbach V" first="V" last="Bartenbach">V. Bartenbach</name><affiliation wicri:level="3"><nlm:affiliation>IPEK - Institute of Product Engineering, Kaiserstrasse 10, 76131 Karlsruhe, Germany.</nlm:affiliation><country xml:lang="fr">Allemagne</country><wicri:regionArea>IPEK - Institute of Product Engineering, Kaiserstrasse 10, 76131 Karlsruhe</wicri:regionArea><placeName><region type="land" nuts="1">Bade-Wurtemberg</region><region type="district" nuts="2">District de Karlsruhe</region><settlement type="city">Karlsruhe</settlement></placeName></affiliation></author><author><name sortKey="Sander, C" sort="Sander, C" uniqKey="Sander C" first="C" last="Sander">C. Sander</name></author><author><name sortKey="Poschl, M" sort="Poschl, M" uniqKey="Poschl M" first="M" last="Pöschl">M. Pöschl</name></author><author><name sortKey="Wilging, K" sort="Wilging, K" uniqKey="Wilging K" first="K" last="Wilging">K. Wilging</name></author><author><name sortKey="Nelius, T" sort="Nelius, T" uniqKey="Nelius T" first="T" last="Nelius">T. Nelius</name></author><author><name sortKey="Doll, F" sort="Doll, F" uniqKey="Doll F" first="F" last="Doll">F. Doll</name></author><author><name sortKey="Burger, W" sort="Burger, W" uniqKey="Burger W" first="W" last="Burger">W. Burger</name></author><author><name sortKey="Stockinger, C" sort="Stockinger, C" uniqKey="Stockinger C" first="C" last="Stockinger">C. Stockinger</name></author><author><name sortKey="Focke, A" sort="Focke, A" uniqKey="Focke A" first="A" last="Focke">A. Focke</name></author><author><name sortKey="Stein, T" sort="Stein, T" uniqKey="Stein T" first="T" last="Stein">T. Stein</name></author></analytic><series><title level="j">Journal of neuroscience methods</title><idno type="eISSN">1872-678X</idno><imprint><date when="2013" type="published">2013</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Biomechanical Phenomena</term><term>Humans</term><term>Motor Skills (physiology)</term><term>Rehabilitation (instrumentation)</term><term>Rehabilitation (methods)</term><term>Robotics (instrumentation)</term><term>Robotics (methods)</term><term>Software</term></keywords><keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Rehabilitation</term><term>Robotics</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Rehabilitation</term><term>Robotics</term></keywords><keywords scheme="MESH" qualifier="physiology" xml:lang="en"><term>Motor Skills</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Biomechanical Phenomena</term><term>Humans</term><term>Software</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Robotic manipulanda are an established tool for the investigation of human motor control and learning. Potentially, robotic manipulanda could also be valuable in the investigation of skill learning in more natural movement tasks. Most current designs have been developed for studying dynamic learning and rehabilitation and are restricted to 2D space. However, natural upper limb movements take place in 3D space, sometimes with high underlying forces. In this paper, we introduce a robotic device, the BioMotionBot, that can be used in established applications of dynamic learning and rehabilitation but also enables the investigation of skill learning in more natural 3D movement tasks with large dynamic perturbations. The design of the BioMotionBot is based on a mechanism with hybrid serial and parallel kinematics. We first describe the BioMotionBot's mechanical design, the electronic components, the software structure and the control system. To investigate the performance of the BioMotionBot, its stiffness, endpoint mass, endpoint viscosity, haptic resolution, force depth and impedance ratio are evaluated. Additionally, we develop a detailed multi-body simulation model to validate aspects of the structure and behavior of the BioMotionBot. Finally, we present experimental data from a dynamic learning task in 2D and test a 3D scenario with virtual walls. Our results demonstrate that the BioMotionBot can be used for research in human motor learning and rehabilitation and also has potential for the investigation of skill learning in more natural 3D movement tasks.</div></front></TEI><affiliations><list><country><li>Allemagne</li></country><region><li>Bade-Wurtemberg</li><li>District de Karlsruhe</li></region><settlement><li>Karlsruhe</li></settlement></list><tree><noCountry><name sortKey="Burger, W" sort="Burger, W" uniqKey="Burger W" first="W" last="Burger">W. Burger</name><name sortKey="Doll, F" sort="Doll, F" uniqKey="Doll F" first="F" last="Doll">F. Doll</name><name sortKey="Focke, A" sort="Focke, A" uniqKey="Focke A" first="A" last="Focke">A. Focke</name><name sortKey="Nelius, T" sort="Nelius, T" uniqKey="Nelius T" first="T" last="Nelius">T. Nelius</name><name sortKey="Poschl, M" sort="Poschl, M" uniqKey="Poschl M" first="M" last="Pöschl">M. Pöschl</name><name sortKey="Sander, C" sort="Sander, C" uniqKey="Sander C" first="C" last="Sander">C. Sander</name><name sortKey="Stein, T" sort="Stein, T" uniqKey="Stein T" first="T" last="Stein">T. Stein</name><name sortKey="Stockinger, C" sort="Stockinger, C" uniqKey="Stockinger C" first="C" last="Stockinger">C. Stockinger</name><name sortKey="Wilging, K" sort="Wilging, K" uniqKey="Wilging K" first="K" last="Wilging">K. Wilging</name></noCountry><country name="Allemagne"><region name="Bade-Wurtemberg"><name sortKey="Bartenbach, V" sort="Bartenbach, V" uniqKey="Bartenbach V" first="V" last="Bartenbach">V. Bartenbach</name></region></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Exploration
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 001812 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 001812 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= Main
|étape= Exploration
|type= RBID
|clé= pubmed:23276545
|texte= The BioMotionBot: a robotic device for applications in human motor learning and rehabilitation.
}}
Pour générer des pages wiki
HfdIndexSelect -h $EXPLOR_AREA/Data/Main/Exploration/RBID.i -Sk "pubmed:23276545" \
| HfdSelect -Kh $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd \
| NlmPubMed2Wicri -a HapticV1
| This area was generated with Dilib version V0.6.23. |  |