Design and control of a robot for the assessment of psychological factors in prosthetic development

Beckerle, Philipp; Christ, Oliver; Wojtusch, Janis; Schuy, J.; Wolff, Krister; Rinderknecht, Stephan; Vogt, Joachim; Stryk, Oskar von

doi:10.1109/icsmc.2012.6377945

Cited by 19 publications

(57 citation statements)

References 23 publications

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“…The test design proposed by the authors to investigate Rubber Leg Illusion (RLI) and its maintaining factors during movement using the robotic setup from [10], [20] is shown in Figure 1. It aims at examining the RLI during postural movements.…”

Section: Conceptmentioning

confidence: 99%

“…First investigations on transferring the Rubber Hand Illusion to the lower limbs in terms of a Rubber Foot Illusion show significant changes in survey data while results differ regarding the proprioceptive drift [8], [9]. The Int 2 Bot that is subject of this paper represents a robotic concept to perform such experiments during lower limb motion as proposed in [10]. Therefore, it imitates human postural motions based on data acquired with a Microsoft Kinect camera.…”

Section: Introductionmentioning

confidence: 99%

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Comparison of trajectory generation methods for a human-robot interface based on motion tracking in the Int<sup>2</sup>Bot

Schultje

Beckerle

Grimmer

et al. 2014

The 23rd IEEE International Symposium on Robot and Human Interactive Communication

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The acceptance of artificial devices like prostheses or other wearable robots requires their integration into the body schemas of the users. Different factors induce, influence and support the integration and acceptance of the device that substitutes or augments a part of the body. Previous studies have shown that the inducing and maintaining factors are visual, tactile and proprioceptive informations as well as their multisensory integration. This paper describes the vision-based part of the human-robot interface in the Int 2 Bot, which is a robot for the investigation of lower limb body schema integration during postural movements. The psychological approach and the technical setup of the robot, which is designed to imitate postural movements in the sagittal plane to imitate the human subject while performing squats, are outlined. To realize the imitation, an RGB-D sensor, in form of a Microsoft Kinect, is used to capture the subjects motions without contact and thereby avoid disturbances of body schema integration. For generation of the desired joint trajectories to be tracked by the control algorithm, different methods like an extended Kalman filter, inverse kinematics, an inverse kinematics algorithm using Jacobian transpose and approaches based on kinematic assumptions are presented, evaluated and compared based on human data. Benchmarking the results with data acquired using a professional motion capturing system shows that best overall joint angle estimations are achieved with the extended Kalman filter. Finally, the practical implementation within the robot is presented and the tracking behavior using the trajectories generated with the extended Kalman filter are analyzed.

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Section: Conceptmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Comparison of trajectory generation methods for a human-robot interface based on motion tracking in the Int<sup>2</sup>Bot

Schultje

Beckerle

Grimmer

et al. 2014

The 23rd IEEE International Symposium on Robot and Human Interactive Communication

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“…Beyond research and development purposes, the simulator can also be used for gait training and psychological support of amputees [17]. The requirements arising from this are discussed in [17] and a test rig for the investigation of psychological issues in prosthetic development is presented in [18]. A possible implementation of the Prosthesis-User-in-the-Loop concept using a hexapod platform as the biodynamic simulation unit and a treadmill for the simulation of the environment is presented in [17].…”

Section: Simulator Ideamentioning

confidence: 99%

“…The adaptation to the foots of subjects, commerically available orthoses allow for a certain adjustment -e.g., by pumping mechanisms. To enable investigations of psychological factors like body scheme integration, the requirements given in [18] are considered.…”

Section: B Acutator Dimensioningmentioning

confidence: 99%

Conception and Design of a Hardware Simulator for Restoring Lost Biomechanical Function

Beckerle

Lahnstein

Wojtusch

et al. 2013

2013 IEEE International Conference on Systems, Man, and Cybernetics

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Abstract-The Prosthesis-User-in-the-Loop simulator concept represents an approach to integrate users to prosthetic development by a holistic simulation of gait with a prosthesis. It aims at a more user-centered design of lower limb prosthetic devices by utilizing user experience and assessment. As this requires a complex mechanical robot design and sophisticated control strategies that allow for restoring lost biomechanical function, this paper presents the conception and design of a hardware simulator for proof-of-concept studies of those issues. For those investigations, the ankle joints of healthy praticpants are locked mechanically to induce a temporary disability. The task of the simulator is to provide a simulation of physiological gait by artificially restoring ankle functionality. Therefore, the biodynamic behaviour of the locked ankle joint and the enviroment have to be mimicked mechnically. After introducing ProsthesisUser-in-the-Loop simulator idea, the conception of a proof-ofconcept simulator is presented. From this, an analytical model is derived and inverse dynamics simulation are used for design. The resulting mechanism is limited to sagittal plane movements and thus has three degrees of freedom. The actuators are dimensioned to meet the requirements of walking motions in the human subject with maximum body height among the test population.

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“…Such information can be used as a psychological measure in various investigations like the embodiment of technical artifacts, e.g., in terms of tool use or human-machine 5 systems [4]. A common approach to acquire data that reects mental excitement or central nervous activity is electrodermal activity (EDA) sensing [5,6].…”

Section: Introductionmentioning

confidence: 99%

Implementation and evaluation of a low-cost and compact electrodermal activity measurement system

et al. 2016

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Design and control of a robot for the assessment of psychological factors in prosthetic development

Cited by 19 publications

References 23 publications

Comparison of trajectory generation methods for a human-robot interface based on motion tracking in the Int<sup>2</sup>Bot

Comparison of trajectory generation methods for a human-robot interface based on motion tracking in the Int<sup>2</sup>Bot

Conception and Design of a Hardware Simulator for Restoring Lost Biomechanical Function

Implementation and evaluation of a low-cost and compact electrodermal activity measurement system

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