RT Conference Proceedings
T1 Kinematic and dynamic modeling of a multifunctional rehabilitation robot UHP
A1 Mancisidor, A.
A1 Zubizarreta, A.
A1 Cabanes, I.
A1 Bengoa, P.
A1 Jung, J. H.
A2 Hofbaur, Michael
A2 Husty, Manfred
AB The 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%.
PB Springer Netherlands
SN 9783319599717
SN 2211-0984
YR 2018
FD 2018
LK https://hdl.handle.net/11556/1522
UL https://hdl.handle.net/11556/1522
LA eng
NO Mancisidor , 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
NO conference
NO Publisher Copyright: © Springer International Publishing AG 2018.
NO Acknowledgements 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.
DS TECNALIA Publications
RD 27 jul 2024