Abstract:
Robotic devices are a promising and dynamic tool in the realm of post-stroke rehabilitation. Researchers are still investigating how the use of robots affects motor learn...Show MoreMetadata
Abstract:
Robotic devices are a promising and dynamic tool in the realm of post-stroke rehabilitation. Researchers are still investigating how the use of robots affects motor learning and what design characteristics best encourage recovery. We present a parallel-actuated, end-effector robot designed to provide spatial assistance for upper-limb therapy while exhibiting low impedance and high backdrivability. A gradient based optimization was performed to find an optimal design that accounted for force isotropy, mechanical advantage, workspace size, and counter-balancing. A beta prototype has been built to these specifications (low impedance and high backdrivability) and has undergone initial controller performance as well as fit and function testing. By fitting a nonlinear model to experimental frequency response data, the apparent mass, viscous friction coefficient, and dynamic dry friction coefficient were determined to be 0.242 kg, 0.114 Ns/m, and 0.894 N respectively. The robot will serve as a testing platform to investigate motor learning and evaluate the efficacy of control schemes for post-stroke movement therapy.
Published in: 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
Date of Conference: 16-20 August 2016
Date Added to IEEE Xplore: 18 October 2016
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PubMed ID: 28268752