A force-controlled planar haptic device for movement control analysis of the human arm.
Identifieur interne : 001B92 ( PubMed/Corpus ); précédent : 001B91; suivant : 001B93A force-controlled planar haptic device for movement control analysis of the human arm.
Auteurs : Erwin De Vlugt ; Alfred C. Schouten ; Frans C T. Van Der Helm ; Piet C. Teerhuis ; Guido G. BrouwnSource :
- Journal of neuroscience methods [ 0165-0270 ] ; 2003.
English descriptors
- KwdEn :
- Adult, Arm (innervation), Arm (physiology), Artificial Limbs (trends), Biomechanical Phenomena, Feedback (physiology), Humans, Male, Models, Neurological, Movement (physiology), Muscle Contraction (physiology), Range of Motion, Articular (physiology), Robotics (instrumentation), Robotics (methods), Weight-Bearing (physiology).
- MESH :
- innervation : Arm.
- instrumentation : Robotics.
- methods : Robotics.
- physiology : Arm, Feedback, Movement, Muscle Contraction, Range of Motion, Articular, Weight-Bearing.
- trends : Artificial Limbs.
- Adult, Biomechanical Phenomena, Humans, Male, Models, Neurological.
Abstract
This paper describes the design and application of a haptic device to study the mechanical properties of the human arm during interaction with compliant environments. Estimates of the human endpoint admittance can be obtained by recording position deviations as a result of force perturbations. Previous studies attempted to estimate the impedance by recording force as a result of position perturbations, but these experiments do not require a feasible task of human beings. A general problem of force-controlled haptic devices is the occurrence of contact instability, especially where a small virtual mass is required. This negative effect is reduced by the use of a lightweight but stiff manipulator and a robust servo-based admittance controller. The virtual admittance is accurate to at least 13 Hz, attaining a minimum virtual mass of 1.7 kg (isotropic, without damping and stiffness). The properties of known test loads were estimated with an accuracy higher than 98%, up to 20 Hz. The application of the manipulator is evaluated by an experiment with a subject performing a position maintenance task. With this device it is possible to study the adaptability of the neuromuscular system to a variety of environments, enabling a new and functional approach to human motion research.
PubMed: 14511818
Links to Exploration step
pubmed:14511818Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">A force-controlled planar haptic device for movement control analysis of the human arm.</title><author><name sortKey="De Vlugt, Erwin" sort="De Vlugt, Erwin" uniqKey="De Vlugt E" first="Erwin" last="De Vlugt">Erwin De Vlugt</name><affiliation><nlm:affiliation>Man Machine Systems and Control, Department Mechanical Engineering, Delft University of Technology, Mekelweg 2, 2628 CD Delft, The Netherlands. e.devlugt@wbmt.tudelft.nl</nlm:affiliation></affiliation></author><author><name sortKey="Schouten, Alfred C" sort="Schouten, Alfred C" uniqKey="Schouten A" first="Alfred C" last="Schouten">Alfred C. Schouten</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><author><name sortKey="Teerhuis, Piet C" sort="Teerhuis, Piet C" uniqKey="Teerhuis P" first="Piet C" last="Teerhuis">Piet C. Teerhuis</name></author><author><name sortKey="Brouwn, Guido G" sort="Brouwn, Guido G" uniqKey="Brouwn G" first="Guido G" last="Brouwn">Guido G. Brouwn</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2003">2003</date><idno type="RBID">pubmed:14511818</idno><idno type="pmid">14511818</idno><idno type="wicri:Area/PubMed/Corpus">001B92</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">A force-controlled planar haptic device for movement control analysis of the human arm.</title><author><name sortKey="De Vlugt, Erwin" sort="De Vlugt, Erwin" uniqKey="De Vlugt E" first="Erwin" last="De Vlugt">Erwin De Vlugt</name><affiliation><nlm:affiliation>Man Machine Systems and Control, Department Mechanical Engineering, Delft University of Technology, Mekelweg 2, 2628 CD Delft, The Netherlands. e.devlugt@wbmt.tudelft.nl</nlm:affiliation></affiliation></author><author><name sortKey="Schouten, Alfred C" sort="Schouten, Alfred C" uniqKey="Schouten A" first="Alfred C" last="Schouten">Alfred C. Schouten</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><author><name sortKey="Teerhuis, Piet C" sort="Teerhuis, Piet C" uniqKey="Teerhuis P" first="Piet C" last="Teerhuis">Piet C. Teerhuis</name></author><author><name sortKey="Brouwn, Guido G" sort="Brouwn, Guido G" uniqKey="Brouwn G" first="Guido G" last="Brouwn">Guido G. Brouwn</name></author></analytic><series><title level="j">Journal of neuroscience methods</title><idno type="ISSN">0165-0270</idno><imprint><date when="2003" type="published">2003</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Adult</term><term>Arm (innervation)</term><term>Arm (physiology)</term><term>Artificial Limbs (trends)</term><term>Biomechanical Phenomena</term><term>Feedback (physiology)</term><term>Humans</term><term>Male</term><term>Models, Neurological</term><term>Movement (physiology)</term><term>Muscle Contraction (physiology)</term><term>Range of Motion, Articular (physiology)</term><term>Robotics (instrumentation)</term><term>Robotics (methods)</term><term>Weight-Bearing (physiology)</term></keywords><keywords scheme="MESH" qualifier="innervation" xml:lang="en"><term>Arm</term></keywords><keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Robotics</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Robotics</term></keywords><keywords scheme="MESH" qualifier="physiology" xml:lang="en"><term>Arm</term><term>Feedback</term><term>Movement</term><term>Muscle Contraction</term><term>Range of Motion, Articular</term><term>Weight-Bearing</term></keywords><keywords scheme="MESH" qualifier="trends" xml:lang="en"><term>Artificial Limbs</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Adult</term><term>Biomechanical Phenomena</term><term>Humans</term><term>Male</term><term>Models, Neurological</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper describes the design and application of a haptic device to study the mechanical properties of the human arm during interaction with compliant environments. Estimates of the human endpoint admittance can be obtained by recording position deviations as a result of force perturbations. Previous studies attempted to estimate the impedance by recording force as a result of position perturbations, but these experiments do not require a feasible task of human beings. A general problem of force-controlled haptic devices is the occurrence of contact instability, especially where a small virtual mass is required. This negative effect is reduced by the use of a lightweight but stiff manipulator and a robust servo-based admittance controller. The virtual admittance is accurate to at least 13 Hz, attaining a minimum virtual mass of 1.7 kg (isotropic, without damping and stiffness). The properties of known test loads were estimated with an accuracy higher than 98%, up to 20 Hz. The application of the manipulator is evaluated by an experiment with a subject performing a position maintenance task. With this device it is possible to study the adaptability of the neuromuscular system to a variety of environments, enabling a new and functional approach to human motion research.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">14511818</PMID><DateCreated><Year>2003</Year><Month>09</Month><Day>26</Day></DateCreated><DateCompleted><Year>2004</Year><Month>01</Month><Day>13</Day></DateCompleted><DateRevised><Year>2013</Year><Month>11</Month><Day>21</Day></DateRevised><Article PubModel="Print"><Journal><ISSN IssnType="Print">0165-0270</ISSN><JournalIssue CitedMedium="Print"><Volume>129</Volume><Issue>2</Issue><PubDate><Year>2003</Year><Month>Oct</Month><Day>30</Day></PubDate></JournalIssue><Title>Journal of neuroscience methods</Title><ISOAbbreviation>J. Neurosci. Methods</ISOAbbreviation></Journal><ArticleTitle>A force-controlled planar haptic device for movement control analysis of the human arm.</ArticleTitle><Pagination><MedlinePgn>151-68</MedlinePgn></Pagination><Abstract><AbstractText>This paper describes the design and application of a haptic device to study the mechanical properties of the human arm during interaction with compliant environments. Estimates of the human endpoint admittance can be obtained by recording position deviations as a result of force perturbations. Previous studies attempted to estimate the impedance by recording force as a result of position perturbations, but these experiments do not require a feasible task of human beings. A general problem of force-controlled haptic devices is the occurrence of contact instability, especially where a small virtual mass is required. This negative effect is reduced by the use of a lightweight but stiff manipulator and a robust servo-based admittance controller. The virtual admittance is accurate to at least 13 Hz, attaining a minimum virtual mass of 1.7 kg (isotropic, without damping and stiffness). The properties of known test loads were estimated with an accuracy higher than 98%, up to 20 Hz. The application of the manipulator is evaluated by an experiment with a subject performing a position maintenance task. With this device it is possible to study the adaptability of the neuromuscular system to a variety of environments, enabling a new and functional approach to human motion research.</AbstractText></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>de Vlugt</LastName><ForeName>Erwin</ForeName><Initials>E</Initials><AffiliationInfo><Affiliation>Man Machine Systems and Control, Department Mechanical Engineering, Delft University of Technology, Mekelweg 2, 2628 CD Delft, The Netherlands. e.devlugt@wbmt.tudelft.nl</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Schouten</LastName><ForeName>Alfred C</ForeName><Initials>AC</Initials></Author><Author ValidYN="Y"><LastName>van der Helm</LastName><ForeName>Frans C T</ForeName><Initials>FC</Initials></Author><Author ValidYN="Y"><LastName>Teerhuis</LastName><ForeName>Piet C</ForeName><Initials>PC</Initials></Author><Author ValidYN="Y"><LastName>Brouwn</LastName><ForeName>Guido G</ForeName><Initials>GG</Initials></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType></PublicationTypeList></Article><MedlineJournalInfo><Country>Netherlands</Country><MedlineTA>J Neurosci Methods</MedlineTA><NlmUniqueID>7905558</NlmUniqueID><ISSNLinking>0165-0270</ISSNLinking></MedlineJournalInfo><CitationSubset>IM</CitationSubset><MeshHeadingList><MeshHeading><DescriptorName MajorTopicYN="N" UI="D000328">Adult</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D001132">Arm</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000294">innervation</QualifierName><QualifierName MajorTopicYN="Y" UI="Q000502">physiology</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D001186">Artificial Limbs</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000639">trends</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D001696">Biomechanical Phenomena</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D005246">Feedback</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000502">physiology</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D006801">Humans</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D008297">Male</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D008959">Models, Neurological</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D009068">Movement</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000502">physiology</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D009119">Muscle Contraction</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000502">physiology</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D016059">Range of Motion, Articular</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000502">physiology</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D012371">Robotics</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000295">instrumentation</QualifierName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D016474">Weight-Bearing</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000502">physiology</QualifierName></MeshHeading></MeshHeadingList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="pubmed"><Year>2003</Year><Month>9</Month><Day>27</Day><Hour>5</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2004</Year><Month>1</Month><Day>14</Day><Hour>5</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="entrez"><Year>2003</Year><Month>9</Month><Day>27</Day><Hour>5</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="pubmed">14511818</ArticleId><ArticleId IdType="pii">S0165027003002036</ArticleId></ArticleIdList></PubmedData></pubmed></record>Pour manipuler ce document sous Unix (Dilib)
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