TY - GEN
T1 - Improving Stability in Upper Limb Rehabilitation Using Variable Stiffness
AU - Jujjavarapu, Sri Sadhan
AU - Esfahani, Ehsan T.
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - In a robotic rehabilitation setup, patient's safety and interaction stability are critical throughout the therapy. This paper addresses the stability aspect by proposing a method to vary the endpoint stiffness using a variable impedance mechanism. The proposed device consists of permanent magnets in an antagonistic configuration that acts as springs and the variation in stiffness is achieved by modifying the separation between those magnets. This device is mounted on the end-effector of an admittance controlled robotic arm and tested with the help of healthy humans on a virtual maze traversal experiment consisting of both fine and gross motor regions. Moreover, the subjects are tested both in normal and simulated tremor conditions to verify the effectiveness of the device. The experimental results show that the VSM can not only suppress the high-frequency forces but can also reduce the interference of human endpoint stiffness in the stability of the robot.
AB - In a robotic rehabilitation setup, patient's safety and interaction stability are critical throughout the therapy. This paper addresses the stability aspect by proposing a method to vary the endpoint stiffness using a variable impedance mechanism. The proposed device consists of permanent magnets in an antagonistic configuration that acts as springs and the variation in stiffness is achieved by modifying the separation between those magnets. This device is mounted on the end-effector of an admittance controlled robotic arm and tested with the help of healthy humans on a virtual maze traversal experiment consisting of both fine and gross motor regions. Moreover, the subjects are tested both in normal and simulated tremor conditions to verify the effectiveness of the device. The experimental results show that the VSM can not only suppress the high-frequency forces but can also reduce the interference of human endpoint stiffness in the stability of the robot.
UR - https://www.scopus.com/pages/publications/85077874664
U2 - 10.1109/EMBC.2019.8857369
DO - 10.1109/EMBC.2019.8857369
M3 - Conference contribution
C2 - 31945859
AN - SCOPUS:85077874664
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 122
EP - 125
BT - 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019
Y2 - 23 July 2019 through 27 July 2019
ER -