Design of a series visco-elastic actuator for multi-purpose rehabilitation haptic device.
Identifieur interne : 000F62 ( PubMed/Curation ); précédent : 000F61; suivant : 000F63Design of a series visco-elastic actuator for multi-purpose rehabilitation haptic device.
Auteurs : Jakob Oblak [Slovénie] ; Zlatko Matja ISource :
- Journal of neuroengineering and rehabilitation [ 1743-0003 ] ; 2011.
English descriptors
- KwdEn :
- MESH :
- instrumentation : Physical Therapy Modalities, Robotics.
- methods : Robotics.
- rehabilitation : Nervous System Diseases.
- Computer-Aided Design, Elasticity, Equipment Design, Humans.
Abstract
Variable structure parallel mechanisms, actuated with low-cost motors with serially added elasticity (series elastic actuator--SEA), has considerable potential in rehabilitation robotics. However, reflected masses of a SEA and variable structure parallel mechanism linked with a compliant actuator result in a potentially unstable coupled mechanical oscillator, which has not been addressed in previous studies.
DOI: 10.1186/1743-0003-8-3
PubMed: 21251299
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<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Design of a series visco-elastic actuator for multi-purpose rehabilitation haptic device.</title><author><name sortKey="Oblak, Jakob" sort="Oblak, Jakob" uniqKey="Oblak J" first="Jakob" last="Oblak">Jakob Oblak</name><affiliation wicri:level="1"><nlm:affiliation>University Rehabilitation Institute, Republic of Slovenia, Linhartova 51, 1000 Ljubljana, Slovenia. jakob.oblak@ir-rs.si</nlm:affiliation><country xml:lang="fr">Slovénie</country><wicri:regionArea>University Rehabilitation Institute, Republic of Slovenia, Linhartova 51, 1000 Ljubljana</wicri:regionArea></affiliation></author><author><name sortKey="Matja I, Zlatko" sort="Matja I, Zlatko" uniqKey="Matja I Z" first="Zlatko" last="Matja I">Zlatko Matja I</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2011">2011</date><idno type="doi">10.1186/1743-0003-8-3</idno><idno type="RBID">pubmed:21251299</idno><idno type="pmid">21251299</idno><idno type="wicri:Area/PubMed/Corpus">000F62</idno><idno type="wicri:Area/PubMed/Curation">000F62</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Design of a series visco-elastic actuator for multi-purpose rehabilitation haptic device.</title><author><name sortKey="Oblak, Jakob" sort="Oblak, Jakob" uniqKey="Oblak J" first="Jakob" last="Oblak">Jakob Oblak</name><affiliation wicri:level="1"><nlm:affiliation>University Rehabilitation Institute, Republic of Slovenia, Linhartova 51, 1000 Ljubljana, Slovenia. jakob.oblak@ir-rs.si</nlm:affiliation><country xml:lang="fr">Slovénie</country><wicri:regionArea>University Rehabilitation Institute, Republic of Slovenia, Linhartova 51, 1000 Ljubljana</wicri:regionArea></affiliation></author><author><name sortKey="Matja I, Zlatko" sort="Matja I, Zlatko" uniqKey="Matja I Z" first="Zlatko" last="Matja I">Zlatko Matja I</name></author></analytic><series><title level="j">Journal of neuroengineering and rehabilitation</title><idno type="eISSN">1743-0003</idno><imprint><date when="2011" type="published">2011</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Computer-Aided Design</term><term>Elasticity</term><term>Equipment Design</term><term>Humans</term><term>Nervous System Diseases (rehabilitation)</term><term>Physical Therapy Modalities (instrumentation)</term><term>Robotics (instrumentation)</term><term>Robotics (methods)</term></keywords><keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Physical Therapy Modalities</term><term>Robotics</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Robotics</term></keywords><keywords scheme="MESH" qualifier="rehabilitation" xml:lang="en"><term>Nervous System Diseases</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Computer-Aided Design</term><term>Elasticity</term><term>Equipment Design</term><term>Humans</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Variable structure parallel mechanisms, actuated with low-cost motors with serially added elasticity (series elastic actuator--SEA), has considerable potential in rehabilitation robotics. However, reflected masses of a SEA and variable structure parallel mechanism linked with a compliant actuator result in a potentially unstable coupled mechanical oscillator, which has not been addressed in previous studies.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">21251299</PMID><DateCreated><Year>2011</Year><Month>03</Month><Day>24</Day></DateCreated><DateCompleted><Year>2011</Year><Month>06</Month><Day>27</Day></DateCompleted><DateRevised><Year>2015</Year><Month>02</Month><Day>05</Day></DateRevised><Article PubModel="Electronic"><Journal><ISSN IssnType="Electronic">1743-0003</ISSN><JournalIssue CitedMedium="Internet"><Volume>8</Volume><PubDate><Year>2011</Year></PubDate></JournalIssue><Title>Journal of neuroengineering and rehabilitation</Title><ISOAbbreviation>J Neuroeng Rehabil</ISOAbbreviation></Journal><ArticleTitle>Design of a series visco-elastic actuator for multi-purpose rehabilitation haptic device.</ArticleTitle><Pagination><MedlinePgn>3</MedlinePgn></Pagination><ELocationID EIdType="doi" ValidYN="Y">10.1186/1743-0003-8-3</ELocationID><Abstract><AbstractText Label="BACKGROUND" NlmCategory="BACKGROUND">Variable structure parallel mechanisms, actuated with low-cost motors with serially added elasticity (series elastic actuator--SEA), has considerable potential in rehabilitation robotics. However, reflected masses of a SEA and variable structure parallel mechanism linked with a compliant actuator result in a potentially unstable coupled mechanical oscillator, which has not been addressed in previous studies.</AbstractText><AbstractText Label="METHODS" NlmCategory="METHODS">The aim of this paper was to investigate through simulation, experimentation and theoretical analysis the necessary conditions that guarantee stability and passivity of a haptic device (based on a variable structure parallel mechanism driven by SEA actuators) when in contact with a human. We have analyzed an equivalent mechanical system where a dissipative element, a mechanical damper was placed in parallel to a spring in SEA.</AbstractText><AbstractText Label="RESULTS" NlmCategory="RESULTS">The theoretical analysis yielded necessary conditions relating the damping coefficient, spring stiffness, both reflected masses, controller's gain and desired virtual impedance that needs to be fulfilled in order to obtain stable and passive behavior of the device when in contact with a human. The validity of the derived passivity conditions were confirmed in simulations and experimentally.</AbstractText><AbstractText Label="CONCLUSIONS" NlmCategory="CONCLUSIONS">These results show that by properly designing variable structure parallel mechanisms actuated with SEA, versatile and affordable rehabilitation robotic devices can be conceived, which may facilitate their wide spread use in clinical and home environments.</AbstractText></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Oblak</LastName><ForeName>Jakob</ForeName><Initials>J</Initials><AffiliationInfo><Affiliation>University Rehabilitation Institute, Republic of Slovenia, Linhartova 51, 1000 Ljubljana, Slovenia. jakob.oblak@ir-rs.si</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Matjačić</LastName><ForeName>Zlatko</ForeName><Initials>Z</Initials></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType><PublicationType UI="D013485">Research Support, Non-U.S. Gov't</PublicationType></PublicationTypeList><ArticleDate DateType="Electronic"><Year>2011</Year><Month>01</Month><Day>20</Day></ArticleDate></Article><MedlineJournalInfo><Country>England</Country><MedlineTA>J Neuroeng Rehabil</MedlineTA><NlmUniqueID>101232233</NlmUniqueID><ISSNLinking>1743-0003</ISSNLinking></MedlineJournalInfo><CitationSubset>IM</CitationSubset><CommentsCorrectionsList><CommentsCorrections RefType="Cites"><RefSource>IEEE Trans Neural Syst Rehabil Eng. 2010 Jun;18(3):293-302</RefSource><PMID Version="1">19846386</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>Conf Proc IEEE Eng Med Biol Soc. 2010;2010:5859-62</RefSource><PMID Version="1">21096924</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>J Rehabil Res Dev. 2000 Nov-Dec;37(6):663-73</RefSource><PMID Version="1">11321002</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>Arch Phys Med Rehabil. 2003 Jun;84(6):915-20</RefSource><PMID Version="1">12808550</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>Top Stroke Rehabil. 2005 Spring;12(2):22-35</RefSource><PMID Version="1">15940582</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>J Rehabil Med. 2009 Nov;41(12):955-60</RefSource><PMID Version="1">19841823</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>Technol Health Care. 1999;7(6):419-23</RefSource><PMID Version="1">10665675</PMID></CommentsCorrections></CommentsCorrectionsList><MeshHeadingList><MeshHeading><DescriptorName MajorTopicYN="N" UI="D017076">Computer-Aided Design</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D004548">Elasticity</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D004867">Equipment Design</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D006801">Humans</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D009422">Nervous System Diseases</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000534">rehabilitation</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D026741">Physical Therapy Modalities</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000295">instrumentation</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D012371">Robotics</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000295">instrumentation</QualifierName><QualifierName MajorTopicYN="N" UI="Q000379">methods</QualifierName></MeshHeading></MeshHeadingList><OtherID Source="NLM">PMC3063208</OtherID></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="received"><Year>2010</Year><Month>5</Month><Day>14</Day></PubMedPubDate><PubMedPubDate PubStatus="accepted"><Year>2011</Year><Month>1</Month><Day>20</Day></PubMedPubDate><PubMedPubDate PubStatus="aheadofprint"><Year>2011</Year><Month>1</Month><Day>20</Day></PubMedPubDate><PubMedPubDate PubStatus="entrez"><Year>2011</Year><Month>1</Month><Day>22</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2011</Year><Month>1</Month><Day>22</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2011</Year><Month>6</Month><Day>28</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>epublish</PublicationStatus><ArticleIdList><ArticleId IdType="pii">1743-0003-8-3</ArticleId><ArticleId IdType="doi">10.1186/1743-0003-8-3</ArticleId><ArticleId IdType="pubmed">21251299</ArticleId><ArticleId IdType="pmc">PMC3063208</ArticleId></ArticleIdList></PubmedData></pubmed></record>Pour manipuler ce document sous Unix (Dilib)
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