Compensation for the intrinsic dynamics of the InMotion2 robot
In: Journal of Neuroscience Methods, Jg. 214 (2013-03-30), Heft 1, S. 15-20
academicJournal
Zugriff:
Abstract: The InMotion2 and other similarly designed robots, are commonly used for rehabilitation of neurological injuries and motor adaptation studies. These robots are used to simulate haptic environments; however, anisotropy in end-point impedance due to the intrinsic robot dynamics can compromise these experiments. The goal was to decrease the magnitude and anisotropy of the robot impedance using a dynamic compensation algorithm that reduces the forces normally felt by the user during rapid movements. We tested this algorithm with two different methods for real-time calculation of derivatives, a novel quadratic fit method (CQF) and the commonly used backward derivative method (CBD). Six subjects performed a series of point-to-point movements under three conditions (no compensation, CQF, CBD), in different directions at peak speeds of 50, 100 and 150cm/s. Without compensation, tangential peak-to-peak forces were as large as 69N in certain directions at the 150cm/s speed. Both CQF and CBD significantly reduced tangential forces in all directions and speeds. CQF outperformed CBD in the directions with highest intrinsic impedance, reducing tangential forces by 64% in these directions. Compensation also significantly reduced forces normal to the movement direction, with CQF again outperforming CBD in several cases. Anisotropy was assessed by the range of tangential peak-to-peak forces across movement directions. In the no compensation condition, anisotropy was as high as 52.7N at the 150cm/s speed, but an average anisotropy reduction of 74% was achieved with CQF. The CQF method can significantly reduce impedance and anisotropy in this class of robot. [Copyright &y& Elsevier]
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Compensation for the intrinsic dynamics of the InMotion2 robot
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Autor/in / Beteiligte Person: | Nguyen, Hoi B. ; Lum, Peter S. |
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Zeitschrift: | Journal of Neuroscience Methods, Jg. 214 (2013-03-30), Heft 1, S. 15-20 |
Veröffentlichung: | 2013 |
Medientyp: | academicJournal |
ISSN: | 0165-0270 (print) |
DOI: | 10.1016/j.jneumeth.2013.01.001 |
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