Bilateral Manipulandum to Synthesize Ground Referenced and Interlimb Viscoelastic Loads

Abstract

The bilateral system was designed to study limb stiffness in different movement tasks. The mechatronics consists of two angular voice coil actuators (+/- 40 Nm) with embedded rotary (+/- 20 degrees) and torque sensors driven by voltage controlled current sources, DSP software routines to synthesize isotonic (preloads, stretches) as well as viscoelastic load schemes (Voigt model) were implemented for each sensor-actuator. The software further provides coupling of both sensor-actuators for interlimb loads as well as real-time video functions for experiment guidance. The system's performance was tested in forearm extensions against ground referenced and interlimb viscoelastic loads.

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Document Details

Document Type
Technical Report
Publication Date
Oct 25, 2001
Accession Number
ADA411698

Entities

People

  • D. Rafolt
  • E. Gallasch
  • H. P. Taferner
  • M. Fend

Organizations

  • University of Graz

Tags

Communities of Interest

  • Biomedical
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Actuators
  • Angular Motion
  • Ball Bearings
  • Bandwidth
  • Biomedical Engineering
  • Differential Equations
  • Engineering
  • Equations
  • Frequency
  • Frequency Bands
  • Frequency Response
  • Load Monitoring
  • Personal Computers
  • Stiffness
  • Strain Gages
  • Transfer Functions
  • User Interface

Readers

  • Robotics and Automation.
  • Speech Processing/Speech Recognition.
  • Structural Health Monitoring of Composite Structures.