Design of a torque-controlled manipulator to analyse the admittance of the wrist joint.
Identifieur interne : 005E47 ( Main/Merge ); précédent : 005E46; suivant : 005E48Design of a torque-controlled manipulator to analyse the admittance of the wrist joint.
Auteurs : Alfred C. Schouten [Pays-Bas] ; Erwin De Vlugt ; J J Bob Van Hilten ; Frans C T. Van Der HelmSource :
- Journal of neuroscience methods [ 0165-0270 ] ; 2006.
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Abstract
This paper describes the design of a torque-controlled manipulator to identify the dynamics of the wrist joint. With torque disturbances, the subject can actively control the joint angle, giving a natural task. The application of a hybrid haptic controller guarantees linearity over a large bandwidth and adjustable virtual dynamics. The haptic controller has a bandwidth of 50 Hz, meaning that the virtual dynamics are realistically felt at up to 50 Hz. To let the subject 'feel' the torque, disturbances as well as possible the apparent, or virtual, dynamics of the device must be small. The minimal apparent inertia of the device is 1.6 g m(2), which is of the same order as for a normal wrist, and the minimal damping and stiffness are negligible. To judge the accuracy of the manipulator, loads of known physical properties were attached and their parameters were quantified. The parameters of the loads were estimated with a maximum error of 5%. As the eigenfrequency of a (co)-contracted human wrist is approximately 15 Hz, the 50-Hz bandwidth of the haptic device is sufficient to measure all relevant dynamics of the human wrist. With this device, the dynamics of the human wrist joint can be measured under varying virtual dynamics, as well as the effect of neurological dysfunction on human motor control, for example.
DOI: 10.1016/j.jneumeth.2005.12.001
PubMed: 16434105
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pubmed:16434105Le document en format XML
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Schouten</name><affiliation wicri:level="1"><nlm:affiliation>Delft University of Technology, Department of Mechanical Engineering, Biomechanical Engineering, The Netherlands. a.c.schouten@3me.tudelft.nl</nlm:affiliation><country xml:lang="fr">Pays-Bas</country><wicri:regionArea>Delft University of Technology, Department of Mechanical Engineering, Biomechanical Engineering</wicri:regionArea><wicri:noRegion>Biomechanical Engineering</wicri:noRegion></affiliation></author><author><name sortKey="De Vlugt, Erwin" sort="De Vlugt, Erwin" uniqKey="De Vlugt E" first="Erwin" last="De Vlugt">Erwin De Vlugt</name></author><author><name sortKey="Van Hilten, J J Bob" sort="Van Hilten, J J Bob" uniqKey="Van Hilten J" first="J J Bob" last="Van Hilten">J J Bob Van Hilten</name></author><author><name sortKey="Van Der Helm, Frans C T" sort="Van Der Helm, Frans C T" uniqKey="Van Der Helm F" first="Frans C T" last="Van Der Helm">Frans C T. Van Der Helm</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2006">2006</date><idno type="doi">10.1016/j.jneumeth.2005.12.001</idno><idno type="RBID">pubmed:16434105</idno><idno type="pmid">16434105</idno><idno type="wicri:Area/PubMed/Corpus">001844</idno><idno type="wicri:Area/PubMed/Curation">001844</idno><idno type="wicri:Area/PubMed/Checkpoint">001618</idno><idno type="wicri:Area/Ncbi/Merge">000867</idno><idno type="wicri:Area/Ncbi/Curation">000867</idno><idno type="wicri:Area/Ncbi/Checkpoint">000867</idno><idno type="wicri:doubleKey">0165-0270:2006:Schouten A:design:of:a</idno><idno type="wicri:Area/Main/Merge">005E47</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Design of a torque-controlled manipulator to analyse the admittance of the wrist joint.</title><author><name sortKey="Schouten, Alfred C" sort="Schouten, Alfred C" uniqKey="Schouten A" first="Alfred C" last="Schouten">Alfred C. Schouten</name><affiliation wicri:level="1"><nlm:affiliation>Delft University of Technology, Department of Mechanical Engineering, Biomechanical Engineering, The Netherlands. a.c.schouten@3me.tudelft.nl</nlm:affiliation><country xml:lang="fr">Pays-Bas</country><wicri:regionArea>Delft University of Technology, Department of Mechanical Engineering, Biomechanical Engineering</wicri:regionArea><wicri:noRegion>Biomechanical Engineering</wicri:noRegion></affiliation></author><author><name sortKey="De Vlugt, Erwin" sort="De Vlugt, Erwin" uniqKey="De Vlugt E" first="Erwin" last="De Vlugt">Erwin De Vlugt</name></author><author><name sortKey="Van Hilten, J J Bob" sort="Van Hilten, J J Bob" uniqKey="Van Hilten J" first="J J Bob" last="Van Hilten">J J Bob Van Hilten</name></author><author><name sortKey="Van Der Helm, Frans C T" sort="Van Der Helm, Frans C T" uniqKey="Van Der Helm F" first="Frans C T" last="Van Der Helm">Frans C T. Van Der Helm</name></author></analytic><series><title level="j">Journal of neuroscience methods</title><idno type="ISSN">0165-0270</idno><imprint><date when="2006" type="published">2006</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Algorithms</term><term>Biomechanical Phenomena</term><term>Computer Simulation</term><term>Data Interpretation, Statistical</term><term>Humans</term><term>Movement (physiology)</term><term>Muscle Contraction (physiology)</term><term>Muscle, Skeletal (physiology)</term><term>Wrist Joint (physiology)</term></keywords><keywords scheme="MESH" qualifier="physiology" xml:lang="en"><term>Movement</term><term>Muscle Contraction</term><term>Muscle, Skeletal</term><term>Wrist Joint</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Algorithms</term><term>Biomechanical Phenomena</term><term>Computer Simulation</term><term>Data Interpretation, Statistical</term><term>Humans</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper describes the design of a torque-controlled manipulator to identify the dynamics of the wrist joint. With torque disturbances, the subject can actively control the joint angle, giving a natural task. The application of a hybrid haptic controller guarantees linearity over a large bandwidth and adjustable virtual dynamics. The haptic controller has a bandwidth of 50 Hz, meaning that the virtual dynamics are realistically felt at up to 50 Hz. To let the subject 'feel' the torque, disturbances as well as possible the apparent, or virtual, dynamics of the device must be small. The minimal apparent inertia of the device is 1.6 g m(2), which is of the same order as for a normal wrist, and the minimal damping and stiffness are negligible. To judge the accuracy of the manipulator, loads of known physical properties were attached and their parameters were quantified. The parameters of the loads were estimated with a maximum error of 5%. As the eigenfrequency of a (co)-contracted human wrist is approximately 15 Hz, the 50-Hz bandwidth of the haptic device is sufficient to measure all relevant dynamics of the human wrist. With this device, the dynamics of the human wrist joint can be measured under varying virtual dynamics, as well as the effect of neurological dysfunction on human motor control, for example.</div></front></TEI></record>Pour manipuler ce document sous Unix (Dilib)
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