HapticMaster – a generic force controlled robot for human interaction

Linde, Richard Q. van der; Lammertse, Piet

doi:10.1108/01439910310506783

Cited by 143 publications

(64 citation statements)

References 15 publications

(15 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Admittance control [36][37][38] was used to control the contact force between the bolt head and the rubber sheet. Figure 14 shows the block diagram of the whole system.…”

Section: Methodsmentioning

confidence: 99%

Parameter Selection Guidelines for a Parabolic Sliding Mode Filter Based on Frequency and Time Domain Characteristics

Jin

Kikuuwe

Yamamoto

2012

Journal of Control Science and Engineering

View full text Add to dashboard Cite

This paper presents the results of quantitative performance evaluation of an authors' new parabolic sliding mode filter, which is for removing noise from signals in robotics and mechatronics applications, based on the frequency and time domain characteristics. Based on the evaluation results, the paper presents selection guidelines of two parameters of the filter. The evaluation results show that, in the frequency domain, the noise removing capability of the filter is almost the same as that of the second-order Butterworth low-pass filter (2-LPF), but its phase lag is smaller (maximum 150 degree) than that of 2-LPF (maximum 180 degree). Moreover, the filter produces smaller phase lag than a conventional parabolic sliding mode filter with appropriate selection of the parameters. In the time domain, the filter produces smaller overshoot than 2-LPF and the conventional one, while maintaining short transient time, by using an appropriately selected parameter. The presented parameter selection guidelines state that the values of the parameters should be chosen according to some estimated characteristics of the input and some desired characteristics of the output. The effectiveness of the filter and the presented guidelines is validated through numerical examples and their application to a closed-loop, force control of a robot manipulator.

show abstract

“…Admittance control [36][37][38] was used to control the contact force between the bolt head and the rubber sheet. Figure 14 shows the block diagram of the whole system.…”

Section: Methodsmentioning

confidence: 99%

Parameter Selection Guidelines for a Parabolic Sliding Mode Filter Based on Frequency and Time Domain Characteristics

Jin

Kikuuwe

Yamamoto

2012

Journal of Control Science and Engineering

View full text Add to dashboard Cite

show abstract

“…Numerous haptic devices have been developed for motor and neurological rehabilitation of upper limbs, and their effectiveness has been validated and presented in the last decade [4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19][20][21][22]. While improved effectiveness over conventional treatment has not been convincingly shown, in general, the leading advantages of robotic rehabilitation over traditional therapy are-1.…”

Section: Introductionmentioning

confidence: 99%

“…A survey of literature published to date reveals that the kinematic structure of robots for upper-limb motor rehabilitation is commonly either (1) serial linkage mechanisms in which the end effector of the robot contacts the user's hand, suitable for either arm-reach movement [4][5][6][7][8][9][10][11] or wrist-movement [12][13][14][15][16] training, or (2) exoskeleton-based mechanisms that provide haptic interaction for both the arm and wrist simultaneously [17][18][19][20]. Serial mechanism devices typically have between 1 and 3 degrees of freedom (DOFs), with the exception of those that have additional DOFs for wrist movement [21][22], while exoskeleton mechanisms typically have 7 DOFs.…”

Section: Introductionmentioning

confidence: 99%

Variable structure pantograph mechanism with spring suspension system for comprehensive upper-limb haptic movement training

Perry¹,

Oblak²,

Jung³

et al. 2011

JRRD

View full text Add to dashboard Cite

Abstract-Numerous haptic devices have been developed for upper-limb neurorehabilitation, but their widespread use has been largely impeded because of complexity and cost. Here, we describe a variable structure pantograph mechanism combined with a spring suspension system that produces a versatile rehabilitation robot, called Universal Haptic Pantograph, for movement training of the shoulder, elbow, and wrist. The variable structure is a 5-degree-of-freedom (DOF) mechanism composed of 7 joints, 11 joint axes, and 3 configurable joint locks that reduce the number of system DOFs to between 0 and 3. The resulting device has eight operational modes: Arm, Wrist, ISO (isometric) 1, ISO 2, Reach, Lift 1, Lift 2, and Steer. The combination of available work spaces (reachable areas) shows a high suitability for movement training of most upperlimb activities of daily living. The mechanism, driven by series elastic actuators, performs similarly in all operational modes, with a single control scheme and set of gains. Thus, a single device with minimal setup changes can be used to treat a variety of upper-limb impairments that commonly afflict veterans with stroke, traumatic brain injury, or other direct trauma to the arm. With appropriately selected design parameters, the developed multimode haptic device significantly reduces the costs of robotic hardware for full-arm rehabilitation while performing similarly to that of single-mode haptic devices. We conducted case studies with three patients with stroke who underwent clinical training using the developed mechanism in Arm, Wrist, and/or Reach operational modes. We assessed outcomes using Fugl-Meyer Motor Assessment and Wolf Motor Function Test scores showing that upper-limb ability improved significantly following training sessions.

show abstract

“…haptic transparency). This can be achieved to some degree by a modified admittance control using force and position measurements to control actuator current 24 . Experiments will investigate the ability of the haptic system to render simultaneously a hard constraint in one direction and haptic transparency in the perpendicular direction.…”

Section: Haptic Interface Developmentmentioning

confidence: 99%

“…In a orthopedic surgery application 23 , hard surfaces were emulated by dynamically positioning real hard constraint between two manipulator links. A commercial admittance controlled manipulator is described in 24 , where it is shown that admittance control can reduce the apparent manipulator inertia by a factor of six, while the apparent friction can be reduced to the accuracy of the force sensor. The effect on system stability of reducing the apparent inertia is analyzed from a theoretical viewpoint in 25 .…”

mentioning

confidence: 99%

Work in Progress: Flatlab - An Interactive Learning Environment for Experiential Learning, Problem-based Assessment, and Dynamic Instruction in Engineering

Eng¹

2015 ASEE Annual Conference and Exposition Proceedings

View full text Add to dashboard Cite

HapticMaster – a generic force controlled robot for human interaction

Cited by 143 publications

References 15 publications

Parameter Selection Guidelines for a Parabolic Sliding Mode Filter Based on Frequency and Time Domain Characteristics

Parameter Selection Guidelines for a Parabolic Sliding Mode Filter Based on Frequency and Time Domain Characteristics

Variable structure pantograph mechanism with spring suspension system for comprehensive upper-limb haptic movement training

Work in Progress: Flatlab - An Interactive Learning Environment for Experiential Learning, Problem-based Assessment, and Dynamic Instruction in Engineering

Contact Info

Product

Resources

About