Issues in impedance selection and input devices for multijoint powered orthotics

Author

Lemay, M.A. ; Hogan, Neville

Author_Institution

Dept. of Mech. Eng., MIT, Cambridge, MA

Volume

6

Issue

1

fYear

1998

fDate

3/1/1998 12:00:00 AM

Firstpage

102

Lastpage

105

Abstract

The authors investigated the applicability of impedance controllers to robotic orthoses for arm movements. They had tetraplegics turn a crank using their paralyzed arm propelled by a planar robot manipulandum. The robot was under impedance control, and chin motion served as command source. Stiffness varied between 50, 100, or 200 N/m and damping varied between 5 or 15 N/m/s. Results indicated that a low stiffness and high viscosity provided better directional control of the tangential force exerted on the crank

Keywords

biomechanics; controllers; damping; elasticity; man-machine systems; manipulators; orthotics; user interfaces; arm movements; chin motion; command source; crank turning; directional control; high viscosity; impedance control; impedance controllers; impedance selection; input devices; multijoint powered orthotics; paralyzed arm; planar robot manipulandum; robotic orthoses; stiffness; tangential force; tetraplegics; Damping; Elbow; Force control; Impedance; Injuries; Mechanical engineering; Orthotics; Performance evaluation; Rehabilitation robotics; Robots;

fLanguage

English

Journal_Title

Rehabilitation Engineering, IEEE Transactions on

Publisher

ieee

ISSN

1063-6528

Type

jour

DOI

10.1109/86.662626

Filename

662626