AN INVESTIGATION OF COMPLIANT MICRO-HALF-PANTOGRAPHS USING THE PSEUDORIGID BODY MODEL<sup>*</sup>

Nielson, Andrew J.; Howell, Larry L.

doi:10.1081/sme-100105653

Cited by 11 publications

(4 citation statements)

References 8 publications

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“…The analysis of compliant mechanisms is significantly harder than the analysis of their rigid body counterparts, since the study of these mechanisms require the determination of their deformations under externally applied forces. In this paper, an approximate model, namely the pseudo-rigid body model [25], is used to study the kinematics of the compliant planar 3-PaRR parallel mechanism. Pseudo-rigid body model is preferred due to its computational efficiency and ease of use.…”

Section: Design Of the Multi-dof Compliant Elementmentioning

confidence: 99%

ASSISTON-MOBILE: A series elastic holonomic mobile platform for upper extremity rehabilitation

Saraç

Ergin

Patoğlu

2013

2013 World Haptics Conference (WHC)

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We present the design and control of series elastic holonomic mobile platform, ASSISTON-MOBILE, aimed to administer therapeutic table-top exercises to patients who have suffered injuries that affect the function of their upper extremities. The proposed mobile platform is a low-cost, portable, easy-to-use rehabilitation device for home use. ASSISTON-MOBILE consists of four actuated Mecanum wheels and a compliant, low-cost, multi degree-offreedom Series Elastic Element as its force sensing unit. Thanks to its series elastic actuation, ASSISTON-MOBILE is highly backdriveable and can provide assistance/resistance to patients, while performing omni-directional movements on plane. Feasibility tests and preliminary usability studies with the robot are presented. The device holds promise in improving accuracy and effectiveness of repetitive movement therapies completed at home, while also providing quantitative measures of patient progress.

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Section: Design Of the Multi-dof Compliant Elementmentioning

confidence: 99%

ASSISTON-MOBILE: A series elastic holonomic mobile platform for upper extremity rehabilitation

Saraç

Ergin

Patoğlu

2013

2013 World Haptics Conference (WHC)

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show abstract

“…The analysis of compliant mechanisms is significantly harder than the analysis of their rigid body counterparts, since the study of these mechanisms requires the determination of their deformations under externally applied forces. In this paper, an approximate model, namely the pseudo-rigid body model, 46 is used to study the kinematics of the compliant planar 3-PaRR parallel mechanism. Pseudorigid body model is preferred due to its computational efficiency and ease of use.…”

Section: Design Of the Multi-dof Compliant Elementmentioning

confidence: 99%

AssistOn-Mobile: a series elastic holonomic mobile platform for upper extremity rehabilitation

et al. 2014

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SUMMARYWe present the design, control, and human–machine interface of a series elastic holonomic mobile platform,AssistOn-Mobile, aimed to administer therapeutic table-top exercises to patients who have suffered injuries that affect the function of their upper extremities. The proposed mobile platform is a low-cost, portable, easy-to-use rehabilitation device targeted for home use. In particular,AssistOn-Mobileconsists of a holonomic mobile platform with four actuated Mecanum wheels and a compliant, low-cost, multi-degrees-of-freedom series elastic element acting as its force sensing unit. Thanks to its series elastic actuation,AssistOn-Mobileis highly backdriveable and can provide assistance/resistance to patients, while performing omni-directional movements on plane.AssistOn-Mobilealso features Passive Velocity Field Control (PVFC) to deliver human-in-the-loop contour tracking rehabilitation exercises. PVFC allows patients to complete the contour-tracking tasks at their preferred pace, while providing the proper amount of assistance as determined by the therapists. PVFC not only minimizes the contour error but also does so by rendering the closed-loop system passive with respect to externally applied forces; hence, ensures the coupled stability of the human-robot system. We evaluate the feasibility and effectiveness ofAssistOn-Mobilewith PVFC for rehabilitation and present experimental data collected during human subject experiments under three case studies. In particular, we utilizeAssistOn-Mobilewith PVFC (a) to administer contour following tasks where the pace of the tasks is left to the control of the patients, so that the patients can assume a natural and comfortable speed for the tasks, (b) to limit compensatory movements of the patients by integrating a RGB-D sensor to the system to continually monitor the movements of the patients and to modulate the task speeds to provide online feedback to the patients, and (c) to integrate a Brain–Computer Interface such that the brain activity of the patients is mapped to the robot speed along the contour following tasks, rendering an assist-as-needed protocol for the patients with severe disabilities. The feasibility studies indicate thatAssistOn-Mobileholds promise in improving the accuracy and effectiveness of repetitive movement therapies, while also providing quantitative measures of patient progress.

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“…Currently there exist numerous PRBMs for different flexural segments including small-length flexural pivots (living hinges), cantilever beams with force at free end, fixed guided beams, end-moment loaded cantilevers, initially curved cantilevers and pinned-pinned segments proposed by Midha, Howell, Saxena and Dado [4][5][6][7][8][9]. These PRBMs have helped the analysis and synthesis of compliant mechanisms in different applications including pantographs [10], centrifugal clutches [11][12], MEMS devices [13][14][15][16]. It is important to mention that these PRBMs are planar, and are constrained to the plane of deflection of the compliant segments.…”

Section: Planar Pseudo-rigid-body Conceptmentioning

confidence: 99%

A 3-D Pseudo-Rigid Body Model for Rectangular Cantilever Beams With an Arbitrary Force End-Load

Chimento

Lusk

Alqasimi

2014

Volume 5A: 38th Mechanisms and Robotics Conference

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This paper presents the first three-dimensional pseudo-rigid body model (3-D PRBM) for straight cantilever beams with rectangular cross sections and spatial motion. Numerical integration of a system of differential equations yields approximate displacement and orientation of the beam’s neutral axis at the free-end, and curvatures of the neutral axis at the fixed-end. This data was used to develop the 3-D PRBM which consists of two torsional springs connecting two rigid links for a total of 2 degrees of freedom (DOF). The 3-D PRBM parameters that are comparable with existing 2-D model parameters are characteristic radius factor (means: γ = 0.8322), bending stiffness coefficient (means: KΘ = 2.5167) and parametric angle coefficient (means: cΘ = 1.2501). New parameters are introduced in the model in order to capture the spatial behavior of the deflected beam including two parametric angle coefficients (means: cΨ = 1.0714; cΦ = 1.0087).

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AN INVESTIGATION OF COMPLIANT MICRO-HALF-PANTOGRAPHS USING THE PSEUDORIGID BODY MODEL^*

Cited by 11 publications

References 8 publications

ASSISTON-MOBILE: A series elastic holonomic mobile platform for upper extremity rehabilitation

ASSISTON-MOBILE: A series elastic holonomic mobile platform for upper extremity rehabilitation

AssistOn-Mobile: a series elastic holonomic mobile platform for upper extremity rehabilitation

A 3-D Pseudo-Rigid Body Model for Rectangular Cantilever Beams With an Arbitrary Force End-Load

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AN INVESTIGATION OF COMPLIANT MICRO-HALF-PANTOGRAPHS USING THE PSEUDORIGID BODY MODEL*

Cited by 11 publications

References 8 publications

ASSISTON-MOBILE: A series elastic holonomic mobile platform for upper extremity rehabilitation

ASSISTON-MOBILE: A series elastic holonomic mobile platform for upper extremity rehabilitation

AssistOn-Mobile: a series elastic holonomic mobile platform for upper extremity rehabilitation

A 3-D Pseudo-Rigid Body Model for Rectangular Cantilever Beams With an Arbitrary Force End-Load

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Product

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AN INVESTIGATION OF COMPLIANT MICRO-HALF-PANTOGRAPHS USING THE PSEUDORIGID BODY MODEL^*