The effect of robot dynamics on smoothness during wrist pointing

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dc.citation.firstpage597en_US
dc.citation.journalTitle2017 International Conference on Rehabilitation Robotics (ICORR)en_US
dc.citation.lastpage602en_US
dc.contributor.authorErwin, Andrewen_US
dc.contributor.authorPezent, Evanen_US
dc.contributor.authorBradley, Joshuaen_US
dc.contributor.authorO’Malley, Marcia K.en_US
dc.date.accessioned2018-07-03T16:08:36Zen_US
dc.date.available2018-07-03T16:08:36Zen_US
dc.date.issued2017en_US
dc.description.abstractThe improvement of movement smoothness over the course of therapy is one of the positive outcomes observed during robotic rehabilitation. Although movements are generally robust to disturbances, certain perturbations might disrupt an individual's ability to produce these smooth movements. In this paper, we explore how a rehabilitation robot's inherent dynamics impact movement smoothness during pointing tasks. Able-bodied participants made wrist pointing movements under four different operating conditions. Despite the relative transparency of the device, inherent dynamic characteristics negatively impacted movement smoothness. Active compensation for Coulomb friction effects failed to mitigate the degradation in smoothness. Assessment of movements that involved coupled motions of the robot's joints reduced the bias seen in single degree of freedom movements. When using robotic devices for assessment of movement quality, the impact of the inherent dynamics must be considered.en_US
dc.identifier.citationErwin, Andrew, Pezent, Evan, Bradley, Joshua, et al.. "The effect of robot dynamics on smoothness during wrist pointing." <i>2017 International Conference on Rehabilitation Robotics (ICORR),</i> (2017) IEEE: 597-602. https://doi.org/10.1109/ICORR.2017.8009313.en_US
dc.identifier.doihttps://doi.org/10.1109/ICORR.2017.8009313en_US
dc.identifier.urihttps://hdl.handle.net/1911/102341en_US
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.rightsThis is an author's peer-reviewed final manuscript, as accepted by the publisher. The published article is copyrighted by IEEE.en_US
dc.titleThe effect of robot dynamics on smoothness during wrist pointingen_US
dc.typeJournal articleen_US
dc.type.dcmiTexten_US
dc.type.publicationpost-printen_US
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