Design and modelling of a passively powered Shoulder Elbow Perturbator
M. Saborio (TU Delft - Mechanical Engineering)
A.H.A. Stienen (TU Delft - Biomechatronics & Human-Machine Control)
J.C. van Zanten (TU Delft - Biomechatronics & Human-Machine Control)
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Abstract
The Shoulder Elbow Perturbator (SEP) is a robotic diagnostic device developed to assess multiple forms of motor impairment common in stroke patients. As an active medical device, the SEP would be bound to strict regulations if brought to market. By replacing its motor with a passive power source, this regulatory burden can be minimized, with the added advantage of greatly minimizing its cost. As a first step in developing this passive SEP, a prototype capable of reproducing one of the SEP’s basic tests was conceptualized. After evaluating multiple options for the passive energy source and associated components, a cost-effective design was developed using a spring, a variable radius winding drum to convert the spring’s force output to a constant torque, and a bicycle disc brake. A simulation of this design was then modeled and run through a variety of scenarios as a theoretical validation of the concept. The results of this process are promising, though testing with a physical prototype is needed for further validation.