Kinematic and Dynamic Modeling of a Multifunctional Rehabilitation Robot UHP

被引：3

作者：

Mancisidor, A. ^{[1
]}

Zubizarreta, A. ^{[1
]}

Cabanes, I. ^{[1
]}

Bengoa, P. ^{[1
]}

Jung, J. H. ^{[2
]}

机构：

[1] Univ Basque Country, UPV EHU, Dept Automat & Syst Engn, Alameda Urquijo S-N, Bilbao 48013, Spain

[2] TECNALIA Res & Innovat, Hlth Div, Rehabil Area, Mikeletegi Pasealekua 1-3, Donostia San Sebastian 20009, Spain

来源：

NEW TRENDS IN MEDICAL AND SERVICE ROBOTS: DESIGN, ANALYSIS AND CONTROL | 2018年 / 48卷

关键词：

Rehabilitation robots; Kinematic modeling; Dynamic modeling; Experimental validation;

D O I：

10.1007/978-3-319-59972-4_9

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

The design of a suitable controller that handles robot-human interaction is one of the critical tasks in rehabilitation robotics. For this purpose, an accurate model of the robot is required. The Universal Haptic Pantograph (UHP) is a novel upper limb rehabilitation robot that can be configured to perform arm or wrist exercises. This work is focused on the latter, solving the kinematic model by the use of the closure loop equations, while Lagrangian formulation is used to estimate the interaction force. In order to prove the effectiveness of the model, several experimental tests are carried out. Results demonstrate that the mean motion error is less than 1 mm, and the estimated force error less than 10%.

引用

收藏

页码：117 / 130

页数：14

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