Design and Validation of a 3-DoF Wrist Perturbator Based on an Inverted Spatial Redundant 4-RUU Parallel Manipulator

Conference paper (2023)

Authors

Robbert Koene Student

J.P. Meijaard Mechatronic Systems Design - Mechanical, Maritime and Materials Engineering

M.L. van de Ruit Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering

W. Mugge Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering

V. van der Wijk Mechatronic Systems Design - Mechanical, Maritime and Materials Engineering

Research Group

Mechatronic Systems Design (Mechanical, Maritime and Materials Engineering) (TU Delft)

DOI: https://doi.org/10.1007/978-3-031-45705-0_76

System identification Mechatronics Force perturbation Human arm Parallel manipulator Bracelet Wearable device

To reference this document use:

http://resolver.tudelft.nl/uuid:f59b5271-841b-4c1a-8e69-142bccefd08c

More Info

expand_more

Published Date

2023

Language

English

Reuse Rights

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.

Faculty

Mechanical, Maritime and Materials Engineering

Department

Precision and Microsystems Engineering

Research Group

Mechatronic Systems Design

Abstract

Humans vary the stiffness in their joints depending on tasks and circumstances. For posture control a high joint stiffness is required to withstand perturbations, whereas for force control a low joint stiffness is required. To investigate how humans vary their joint stiffness precisely for moving an arm, a wearable device is needed that can generate small force perturbations at the wrist while measuring the resulting muscular reactions. The majority of the state-of-the-art devices either offer too little versatility or impede the free movement of the arm. Based on a 3-DoF spatial redundant 4-RUU parallel manipulator applied in an inverted way where the original base with actuators has become the moving platform and the original moving platform is attached to the wrist as a bracelet, a versatile, 0.175 kg lightweight, low impedance, and compact wearable device was developed that can generate perturbation forces in X-, Y-, and Z-direction. The design and a prototype of the device are presented with experimental tests showing controlled perturbations in the order of 4 N with frequencies up to 12 Hz.

Files

978_3_031_45705_0_76.pdf

(.pdf | 2.39 Mb)

- Embargo expired in 05-05-2024