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
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<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>
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<author><name sortKey="Schouten, Alfred C" sort="Schouten, Alfred C" uniqKey="Schouten A" first="Alfred C" last="Schouten">Alfred C. Schouten</name>
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<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>
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<author><name sortKey="Teerhuis, Piet C" sort="Teerhuis, Piet C" uniqKey="Teerhuis P" first="Piet C" last="Teerhuis">Piet C. Teerhuis</name>
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<author><name sortKey="Brouwn, Guido G" sort="Brouwn, Guido G" uniqKey="Brouwn G" first="Guido G" last="Brouwn">Guido G. Brouwn</name>
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<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>
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<author><name sortKey="Schouten, Alfred C" sort="Schouten, Alfred C" uniqKey="Schouten A" first="Alfred C" last="Schouten">Alfred C. Schouten</name>
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<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>
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<series><title level="j">Journal of neuroscience methods</title>
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<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>
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<keywords scheme="MESH" qualifier="innervation" xml:lang="en"><term>Arm</term>
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<keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Robotics</term>
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<keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Robotics</term>
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<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>
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<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>
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<Title>Journal of neuroscience methods</Title>
<ISOAbbreviation>J. Neurosci. Methods</ISOAbbreviation>
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<ArticleTitle>A force-controlled planar haptic device for movement control analysis of the human arm.</ArticleTitle>
<Pagination><MedlinePgn>151-68</MedlinePgn>
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<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>
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