TY - GEN
T1 - A novel robot for arm motor therapy with homogeneous mechanical properties
AU - Tommasino, Paolo
AU - Gamage, K. C.Welihena
AU - Masia, Lorenzo
AU - Hughes, Charmayne M.L.
AU - Campolo, Domenico
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014
Y1 - 2014
N2 - Robotic platforms developed to assist conventional motor therapy and to investigate human motor control have received an increasing interest over the past decades. However, for most of the proposed solutions, bulkiness and expensiveness have limited the use of such devices to specialized clinics that can afford their cost. This paper presents the H-Man, a two degree-of-freedom planar device designed according to three main principles: cost-effectiveness, portability and ease of control. The key component of the device is a planar H-shaped cable differential mechanism which ensures a constant Jacobian and homogeneous perceived inertia over the entire workspace. The paper presents the mechanical design as well as the performance evaluation in terms of perceived impedance.
AB - Robotic platforms developed to assist conventional motor therapy and to investigate human motor control have received an increasing interest over the past decades. However, for most of the proposed solutions, bulkiness and expensiveness have limited the use of such devices to specialized clinics that can afford their cost. This paper presents the H-Man, a two degree-of-freedom planar device designed according to three main principles: cost-effectiveness, portability and ease of control. The key component of the device is a planar H-shaped cable differential mechanism which ensures a constant Jacobian and homogeneous perceived inertia over the entire workspace. The paper presents the mechanical design as well as the performance evaluation in terms of perceived impedance.
UR - http://www.scopus.com/inward/record.url?scp=84949924139&partnerID=8YFLogxK
U2 - 10.1109/ICARCV.2014.7064502
DO - 10.1109/ICARCV.2014.7064502
M3 - Conference contribution
AN - SCOPUS:84949924139
T3 - 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
SP - 1292
EP - 1297
BT - 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
Y2 - 10 December 2014 through 12 December 2014
ER -