The effect of robot dynamics on smoothness during wrist pointing

Simple item page
dc.citation.firstpage597
dc.citation.journalTitle2017 International Conference on Rehabilitation Robotics (ICORR)
dc.citation.lastpage602
dc.contributor.authorErwin, Andrew
dc.contributor.authorPezent, Evan
dc.contributor.authorBradley, Joshua
dc.contributor.authorO’Malley, Marcia K.
dc.date.accessioned2018-07-03T16:08:36Z
dc.date.available2018-07-03T16:08:36Z
dc.date.issued2017
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.
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.
dc.identifier.doihttps://doi.org/10.1109/ICORR.2017.8009313
dc.identifier.urihttps://hdl.handle.net/1911/102341
dc.language.isoeng
dc.publisherIEEE
dc.rightsThis is an author's peer-reviewed final manuscript, as accepted by the publisher. The published article is copyrighted by IEEE.
dc.titleThe effect of robot dynamics on smoothness during wrist pointing
dc.typeJournal article
dc.type.dcmiText
dc.type.publicationpost-print
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
Erwin2017.pdf
Size:
683.5 KB
Format:
Adobe Portable Document Format
Description:
Download
Collections
Faculty Publications
Mechanical Engineering Publications