The role of viscous damping on quality of haptic interaction in upper limb rehabilitation robot: A simulation study

No Thumbnail Available
Identifiers
URI: https://hdl.handle.net/11556/1888
ISSN: 1680-0737
ISBN: 9783642130380
DOI: 10.1007/978-3-642-13039-7_96
Publication date
2010
Authors
Advisors
Journal Title
Journal ISSN
Volume Title
Publisher
Citations
Google Scholar
Export
Research Projects
Organizational Units
Journal Issue
Abstract
In this paper we present a haptic device developed for neurological rehabilitation of upper limb. The main feature of the device is a variable parallel mechanism. By simple mechanical reconfiguration of joints in parallel mechanism, the device can be used in different operational modes, which enables gradual rehabilitation of upper limb. Device is actuated by 2-DOF haptic drive based on Series Elastic Actuator (SEA). A simulation study was undertaken, to explore the effect of added viscous damping in actuation of the device. Results of simulation indicate that addition of a damping element improves haptic performance.
Description
Keywords
arm , damper , Haptics , neurological rehabilitation , series elastic actuation , wrist , Bioengineering , Biomedical Engineering
Type
conference output
Citation
Oblak , J , Cikajlo , I , Keller , T , Perrry , J C , Veneman , J & Matjačić , Z 2010 , The role of viscous damping on quality of haptic interaction in upper limb rehabilitation robot : A simulation study . in XII Mediterranean Conference on Medical and Biological Engineering and Computing 2010, MEDICON 2010 . IFMBE Proceedings , vol. 29 , pp. 383-386 , 12th Mediterranean Conference on Medical and Biological Engineering and Computing, MEDICON 2010 , Chalkidiki , Greece , 27/05/10 . https://doi.org/10.1007/978-3-642-13039-7_96
conference