|
Design and Implementation of a force reflecting manipulandum for manual control research (1992)
"This paper describes a force reflecting interface developed to apply programmable mechanical loads to the human arm for the experimental study of a specific component of manual output: tremor. Because it was designed to meet the performance requirements for effective dynamic coupling with tremor, the interface is also capable of producing high bandwidth simulations of general mechanical environments for interaction with volitional human movement.
The interface is a two degree of freedom manipulandum (i.e., backdriveable manipulator) based on a novel spherical 5R closed chain linkage that joins the output of two DC motors to a handle grasped by the human subject/operator. This linkage configuration provides high structural bandwidth and permits approximate Cartesian control of endpoint impedences without geometric computation. The computational burden for real time control of manipulandum load simulations is further reduced by a hardwired digitally supervised analog controller that makes use of directly sensed displacements, velocities, and accelerations at the two motor shafts and forces at the human-machine interface."
force reflecting, human-machine, interface, manipulandum, manipulandum, tremor
In H. Kazerooni, editor, Advances in Robotics, American Society of Mechanical Engineers, New York, 1992, pp. 1-12
|
