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

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dc.contributor.advisorO'Malley, Marcia K.
dc.contributor.committeeMemberGhorbel, Fathi H.
dc.contributor.committeeMemberMcLurkin, James
dc.contributor.committeeMemberSergi, Fabrizio
dc.creatorErwin, Andrew
dc.date.accessioned2014-08-26T21:13:47Z
dc.date.available2014-08-26T21:13:47Z
dc.date.created2014-05
dc.date.issued2014-04-25
dc.date.submittedMay 2014
dc.date.updated2014-08-26T21:13:48Z
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.
dc.format.mimetypeapplication/pdf
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>.
dc.identifier.urihttps://hdl.handle.net/1911/76722
dc.language.isoeng
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.
dc.subjectForce feedback
dc.subjectHaptic interfaces
dc.subjectHuman-robot interaction
dc.subjectInteraction control
dc.subjectMr-compatible robots
dc.subjectRobotic rehabilitation
dc.subjectSeries elastic actuators
dc.titleUsing Custom Integrated Force Sensing Mechanisms for Interaction Control in Rehabilitation Robots
dc.typeThesis
dc.type.materialText
thesis.degree.departmentMechanical Engineering and Materials Science
thesis.degree.disciplineEngineering
thesis.degree.grantorRice University
thesis.degree.levelMasters
thesis.degree.nameMaster of Science
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