Design and Validation of Ungrounded Wrist Perturbator Based On Parallel Mechanism

Design and Validation of Ungrounded Wrist Perturbator Based On Parallel Mechanism

Koene, Robbert (TU Delft Mechanical, Maritime and Materials Engineering; TU Delft Precision and Microsystems Engineering)

van der Wijk, V. (mentor)
Herder, J.L. (graduation committee)
Mugge, W. (graduation committee)
Meijaard, J.P. (graduation committee)

Delft University of Technology

Mechanical Engineering | Mechatronic System Design (MSD)

2022-05-23

The compliance (stiffness) of a human arm varies, depending on the task at hand. Some precise tasks require high stiffness, while others need a level of flexibility to deal with unknown disturbances. To describe this human behaviour a portable device is needed to give small force perturbations (input) while the resulting reaction of the arm (output) is measured. There are multiple state-of-the-art devices to choose from to provide such input. However, the majority of these devices either offer too little versatility or impede the free movement of the user. Implementation of a novel parallel mechanism allows for a lightweight (0.175kg) and compact device that can generate various signals in three degrees-of-freedom. Since the device is designed to be mounted around the wrist, it leaves your arm and hand unobstructed. A full-scale prototype is constructed and the concept is tested using a force sensor. Implementing powerful yet compact servo motors allows for controlled perturbations in the order of 4N, with bandwidths up to 12Hz.

Mechatronics
System identification
Parallel Mechanism
Force perturbation
Human arm

http://resolver.tudelft.nl/uuid:f835de98-a99d-4505-82f8-d06a03a2b950

Student theses

master thesis

© 2022 Robbert Koene