TY - GEN
T1 - Design and optimization of PARTNER
T2 - 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016
AU - Taheri, Hossein
AU - Goodwin, Stephen A.
AU - Tigue, James A.
AU - Perry, Joel C.
AU - Wolbrecht, Eric T.
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/10/13
Y1 - 2016/10/13
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/85009107938
U2 - 10.1109/EMBC.2016.7591149
DO - 10.1109/EMBC.2016.7591149
M3 - Conference contribution
C2 - 28268752
AN - SCOPUS:85009107938
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 2128
EP - 2132
BT - 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 16 August 2016 through 20 August 2016
ER -
