Design and Validation of Ungrounded Wrist Perturbator Based On Parallel Mechanism
R. Koene (TU Delft - Mechanical Engineering)
V. van der Wijk – Mentor (TU Delft - Mechanical Engineering)
J.L. Herder – Graduation committee member (TU Delft - Mechanical Engineering)
W. Mugge – Coach (TU Delft - Mechanical Engineering)
J.P. Meijaard – Coach (TU Delft - Mechanical Engineering)
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Abstract
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.