Kinematic and dynamic modeling of a multifunctional rehabilitation robot UHP

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dc.contributor.authorMancisidor, A.
dc.contributor.authorZubizarreta, A.
dc.contributor.authorCabanes, I.
dc.contributor.authorBengoa, P.
dc.contributor.authorJung, J. H.
dc.contributor.editorHofbaur, Michael
dc.contributor.editorHusty, Manfred
dc.contributor.institutionMedical Technologies
dc.date.accessioned2024-07-24T11:46:03Z
dc.date.available2024-07-24T11:46:03Z
dc.date.issued2018
dc.descriptionPublisher Copyright: © Springer International Publishing AG 2018.
dc.description.abstractThe design of a suitable controller that handles robot-human interaction is one of the critical tasks in rehabilitation robotics. For this purpose, an accurate model of the robot is required. The Universal Haptic Pantograph (UHP) is a novel upper limb rehabilitation robot that can be configured to perform arm or wrist exercises. This work is focused on the latter, solving the kinematic model by the use of the closure loop equations, while Lagrangian formulation is used to estimate the interaction force. In order to prove the effectiveness of the model, several experimental tests are carried out. Results demonstrate that the mean motion error is less than 1 mm, and the estimated force error less than 10%.en
dc.description.sponsorshipAcknowledgements This work was supported in part by the Basque Country Governments (GV/EJ) under grant PRE-2014-1-152, UPV/EHU’s UFI11/28 project, Spanish Ministry of Economy and Competitiveness’ MINECO & FEDER inside the DPI-2012-32882 project, Spanish Ministry of Economy and Competitiveness’ BES-2013-066142 grant, Euskampus, FIK and Spanish Ministry of Science and Innovation PDI-020100-2009-21 project.
dc.description.statusPeer reviewed
dc.format.extent14
dc.identifier.citationMancisidor , A , Zubizarreta , A , Cabanes , I , Bengoa , P & Jung , J H 2018 , Kinematic and dynamic modeling of a multifunctional rehabilitation robot UHP . in M Hofbaur & M Husty (eds) , New Trends in Medical and Service Robots - Design, Analysis and Control . Mechanisms and Machine Science , vol. 48 , Springer Netherlands , pp. 117-130 , 5th International Workshop on Medical and Service Robots, MeSRob 2016 , Graz , Austria , 4/07/16 . https://doi.org/10.1007/978-3-319-59972-4_9
dc.identifier.citationconference
dc.identifier.doi10.1007/978-3-319-59972-4_9
dc.identifier.isbn9783319599717
dc.identifier.issn2211-0984
dc.identifier.urihttps://hdl.handle.net/11556/1522
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=85028080125&partnerID=8YFLogxK
dc.language.isoeng
dc.publisherSpringer Netherlands
dc.relation.ispartofNew Trends in Medical and Service Robots - Design, Analysis and Control
dc.relation.ispartofseriesMechanisms and Machine Science
dc.relation.projectIDBasque Country Governments, PRE-2014-1-152
dc.relation.projectIDMinisterio de Economía y Competitividad, MINECO, BES-2013-066142
dc.relation.projectIDEuskal Herriko Unibertsitatea, EHU, UFI11/28
dc.relation.projectIDMinisterio de Ciencia e Innovación, MICINN, PDI-020100-2009-21
dc.relation.projectIDEuropean Regional Development Fund, FEDER, DPI-2012-32882
dc.rightsinfo:eu-repo/semantics/restrictedAccess
dc.subject.keywordsDynamic modeling
dc.subject.keywordsExperimental validation
dc.subject.keywordsKinematic modeling
dc.subject.keywordsRehabilitation robots
dc.subject.keywordsMechanics of Materials
dc.subject.keywordsMechanical Engineering
dc.titleKinematic and dynamic modeling of a multifunctional rehabilitation robot UHPen
dc.typeconference output
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