A robotic apparatus that dictates torque fields around joints without affecting inherent joint dynamics

Oytam, Yalchin, Lloyd, David, Reid, Campbell S., de Rugy, Aymar and Carson, Richard G. (2010) A robotic apparatus that dictates torque fields around joints without affecting inherent joint dynamics. Human Movement Science, 29 5: 701-712.


Author Oytam, Yalchin
Lloyd, David
Reid, Campbell S.
de Rugy, Aymar
Carson, Richard G.
Title A robotic apparatus that dictates torque fields around joints without affecting inherent joint dynamics
Journal name Human Movement Science   Check publisher's open access policy
ISSN 0167-9457
Publication date 2010-10
Sub-type Article (original research)
DOI 10.1016/j.humov.2010.06.004
Volume 29
Issue 5
Start page 701
End page 712
Total pages 12
Place of publication The Netherlands
Publisher Elsevier BV
Collection year 2011
Language eng
Abstract This manuscript describes how motor behaviour researchers who are not at the same time expert roboticists may implement an experimental apparatus, which has the ability to dictate torque fields around a single joint on one limb or single joints on multiple limbs without otherwise interfering with the inherent dynamics of those joints. Such an apparatus expands the exploratory potential of the researcher wherever experimental distinction of factors may necessitate independent control of torque fields around multiple limbs, or the shaping of torque fields of a given joint independently of its plane of motion, or its directional phase within that plane. The apparatus utilizes torque motors. The challenge with torque motors is that they impose added inertia on limbs and thus attenuate joint dynamics. We eliminated this attenuation by establishing an accurate mathematical model of the robotic device using the Box-Jenkins method, and cancelling out its dynamics by employing the inverse of the model as a compensating controller. A direct measure of the remnant inertial torque as experienced by the hand during a 50. s period of wrist oscillations that increased gradually in frequency from 1.0 to 3.8. Hz confirmed that the removal of the inertial effect of the motor was effectively complete. © 2010 Elsevier B.V.
Keyword Interlimb coordination
Inverse control
Perception and motor control
Reverse gravity
Q-Index Code C1
Q-Index Status Confirmed Code
Institutional Status UQ

Document type: Journal Article
Sub-type: Article (original research)
Collections: Official 2011 Collection
School of Human Movement Studies Publications
 
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Created: Fri, 18 Mar 2011, 15:06:00 EST by Deborah Noon on behalf of School of Human Movement Studies