Compensation for the Passive Dynamics of a Five-bar Neurorehabilitation Robot

Authors

Matthew R. AmansFollow
Kyle P. LillisFollow
Robert A. Scheidt, Marquette UniversityFollow

Document Type

Conference Proceeding

Language

eng

Publication Date

2002

Publisher

Institute of Electrical and Electronics Engineers

Source Publication

Proceedings of the Second Joint EMBS/BMES Conference

Source ISSN

1094-687X

Original Item ID

doi: 10.1109/IEMBS.2002.1053325

Abstract

Summary form only given. We have designed a compensator for the passive dynamics of a five-bar neurorehabilitation robot. This model-based compensator was tuned off-line using a simplex search method to minimize the error between measured joint torques during passive movement of the robot arm and torques predicted by the model during the same movement. The simplex algorithm selected the three independent parameters of the equations of motion to minimize the squared difference between measured and estimated joint torques. These parameters are implemented in a real-time operating system (xPC; the Mathworks) controlling the robot. This system yields stable compensation of over 80% of the passive dynamics of the manipulandum. This compensation was empirically found to be stable over the entire workspace of the robot.

Comments

Published as part of the proceedings of the conference Second Joint EMBS/BMES Conference, 2002. DOI.

Recommended Citation

Amans, Matthew R.; Lillis, Kyle P.; and Scheidt, Robert A., "Compensation for the Passive Dynamics of a Five-bar Neurorehabilitation Robot" (2002). Biomedical Engineering Faculty Research and Publications. 163.
https://epublications.marquette.edu/bioengin_fac/163