Using Custom Integrated Force Sensing Mechanisms for Interaction Control in Rehabilitation Robots

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dc.contributor.advisorO'Malley, Marcia K.en_US
dc.contributor.committeeMemberGhorbel, Fathi H.en_US
dc.contributor.committeeMemberMcLurkin, Jamesen_US
dc.contributor.committeeMemberSergi, Fabrizioen_US
dc.creatorErwin, Andrewen_US
dc.date.accessioned2014-08-26T21:13:47Zen_US
dc.date.available2014-08-26T21:13:47Zen_US
dc.date.created2014-05en_US
dc.date.issued2014-04-25en_US
dc.date.submittedMay 2014en_US
dc.date.updated2014-08-26T21:13:48Zen_US
dc.description.abstractThis thesis presents the implementation of interaction controllers on two custom integrated force sensing mechanisms and demonstrates their suitability for applications to the field of rehabilitation robotics. One condition in which interaction control is beneficial occurs when the robot's dynamics are significant and need to be compensated through force-feedback. To address this need, a grip force sensor that measures forces in three planes by using force sensing resistors was developed. The device readily integrates with most rehabilitation robots at the end effector. Additionally, if a robot is non-backdrivable, force measurement is required to render transparent environments during evaluation mode as well as for interaction control. Here, interaction controllers are implemented in a 1DOF MR-compatible actuation module. The MR-compatible device uses a non-backdrivable actuator with series elasticity for force sensing. Experimental implementation of interaction controllers on both devices demonstrates the advantages of closed-loop force control.en_US
dc.format.mimetypeapplication/pdfen_US
dc.identifier.citationErwin, Andrew. "Using Custom Integrated Force Sensing Mechanisms for Interaction Control in Rehabilitation Robots." (2014) Master’s Thesis, Rice University. <a href="https://hdl.handle.net/1911/76722">https://hdl.handle.net/1911/76722</a>.en_US
dc.identifier.urihttps://hdl.handle.net/1911/76722en_US
dc.language.isoengen_US
dc.rightsCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.en_US
dc.subjectForce feedbacken_US
dc.subjectHaptic interfacesen_US
dc.subjectHuman-robot interactionen_US
dc.subjectInteraction controlen_US
dc.subjectMr-compatible robotsen_US
dc.subjectRobotic rehabilitationen_US
dc.subjectSeries elastic actuatorsen_US
dc.titleUsing Custom Integrated Force Sensing Mechanisms for Interaction Control in Rehabilitation Robotsen_US
dc.typeThesisen_US
dc.type.materialTexten_US
thesis.degree.departmentMechanical Engineering and Materials Scienceen_US
thesis.degree.disciplineEngineeringen_US
thesis.degree.grantorRice Universityen_US
thesis.degree.levelMastersen_US
thesis.degree.nameMaster of Scienceen_US
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