Volume 27 Issue 2 - Publication Date: 1 February 2008
Design, Control and Performance of RiceWrist: A Force FeedbackWrist Exoskeleton for Rehabilitation and Training
Abhishek Gupta, Marcia K. O’Malley Department of Mechanical Engineering and Materials Science Rice University, Houston, TX 77005, USA, Volkan Patoglu Faculty of Engineering and Natural Sciences Sabanc University, Tuzla, Istanbul 34956, Turkey, and Charles Burgar, MD CTVHCS, Temple, TX 76504, USA
This paper presents the design, control and performance of a high fidelity four degree-of-freedom wrist exoskeleton robot, RiceWrist, for training and rehabilitation. The RiceWrist is intended to provide kinesthetic feedback during the training of motor skills or rehabilitation of reaching movements.Motivation for such applications is based on findings that show robot-assisted physical therapy aids in the rehabilitation process following neurological injuries. The exoskeleton device accommodates forearm supination and pronation, wrist flexion and extension and radial and ulnar deviation in a compact parallel mechanism design with low friction, zero backlash and high stiffness. As compared to other exoskeleton devices, the RiceWrist allows easy measurement of human joint angles and independent kinesthetic feedback to individual human joints. In this paper, joint-space as well as task-space position controllers and an impedance-based force controller for the device are presented. The kinematic performance of the device is characterized in terms of its workspace, singularities, manipulability, backlash and backdrivability. The dynamic performance of RiceWrist is characterized in terms of motor torque output, joint friction, step responses, behavior under closed loop set-point and trajectory tracking control and display of virtual walls. The device is singularity-free, encompasses most of the natural workspace of the human joints and exhibits low friction, zero-backlash and high manipulability, which are kinematic properties that characterize a highquality impedance display device. In addition, the device displays fast, accurate response under position control that matches human actuation bandwidth and the capability to display sufficiently hard contact with little coupling between controlled degrees-of-freedom.
Multimedia Key
= Video = Data = Code = Image
Example 1: Modes of the MIME-RiceWrist Rehabilitation Setup. (6.52 MB) avi
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