Abstract
Humans vary the stiffness in their joints depending on tasks and circumstances. For posture control a high joint stiffness is required to withstand perturbations, whereas for force control a low joint stiffness is required. To investigate how humans vary their joint stiffness precisely for moving an arm, a wearable device is needed that can generate small force perturbations at the wrist while measuring the resulting muscular reactions. The majority of the state-of-the-art devices either offer too little versatility or impede the free movement of the arm. Based on a 3-DoF spatial redundant 4-RUU parallel manipulator applied in an inverted way where the original base with actuators has become the moving platform and the original moving platform is attached to the wrist as a bracelet, a versatile, 0.175 kg lightweight, low impedance, and compact wearable device was developed that can generate perturbation forces in X-, Y-, and Z-direction. The design and a prototype of the device are presented with experimental tests showing controlled perturbations in the order of 4 N with frequencies up to 12 Hz.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Kearney, R., Hunter, I.: System identification of human joint dynamics. Crit. Rev. Biomed. Eng. 18, 55–87 (1990)
Angelini, F., Della Santina, C., Garabini, M., Bianchi, M., Bicchi, A.: Control architecture for human-like motion with applications to articulated soft robots. Front. Robot. AI 7 (2020). https://doi.org/10.3389/frobt.2020.00117
Piggott, L., Wagner, S., Ziat, M.: Haptic neurorehabilitation and virtual reality for upper limb paralysis: a review. Crit. Rev. Biomed. Eng. 44, 1–32 (2016). https://doi.org/10.1615/CritRevBiomedEng.2016016046
Xu, Y., Hunter, I.W., Hollerbach, J.M., Bennett, D.J.: An airjet actuator system for identification of the human arm joint mechanical properties. IEEE Trans. Biomed. Eng. 38, 1111–1122 (1991)
Gurocak, H., Jayaram, S., Parrish, B., Jayaram, U.: Weight sensation in virtual environments using a haptic device with air jets. ASME J. Comput. Inf. Sci. Eng. 3, 130–135 (2003). https://doi.org/10.1115/1.1576808
Höppner, H., Lakatos, D., Urbanek, H., van der Smagt, P.: The arm-perturbator: design of a wearable perturbation device to measure limb impedance. In: Proceedings, First International Conference on Applied Bionics and Biomechanics, ICABB-2010. Venice, Italy, October 14–16 (2010)
Walker, J.M., Raitor, M., Mallery, A., Culbertson, H., Stolka, P., Okamura, A.M.: A dual-flywheel ungrounded haptic feedback system provides single-axis moment pulses for clear direction signals. In: 2016 IEEE Haptics Symposium (HAPTICS), pp. 7–13 (2016). https://doi.org/10.1109/HAPTICS.2016.7463148
Hondori, H.M., Ang, W.T.: Smart mug to measure hand’s geometrical mechanical impedance. In: Proceedings 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 4053–4056 (2011). https://doi.org/10.1109/IEMBS.2011.6091007
Amemiya, T., Kawabuchi, I., Ando, H., Maeda, T.: Double-layer slider-crank mechanism to generate pulling or pushing sensation without an external ground. In: 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2101–2106 (2007). https://doi.org/10.1109/IROS.2007.4399211
Kakuda, E., Yokota, S., Matsumoto, A., Chugo, D., Hashimoto, H.: Concept verification of ungrounded force display using cam. In: 2018 11th International Conference on Human System Interaction (HSI), pp. 432–437 (2018). https://doi.org/10.1109/HSI.2018.8431319
Patel, Y., George, P.: Parallel manipulators applications—a survey. Mod. Mech. Eng. 2, 57–64 (2012). https://doi.org/10.4236/mme.2012.23008
Clavel, R.: Conception d’un robot parallèle rapide à 4 degrés de liberté. Ph.D. thesis, Département de Microtechnique, EPFL, Lausanne (1991)
Corbel, D., Gouttefarde, M., Company, O., Pierrot, F.: Towards 100G with PKM: is actuation redundancy a good solution for pick-and-place? In: 2010 IEEE International Conference on Robotics and Automation, pp. 4675–4682 (2010). https://doi.org/10.1109/ROBOT.2010.5509921
Van der Wijk, V., Krut, S., Pierrot, F., Herder, J.L.: Design and experimental evaluation of a dynamically balanced redundant planar 4-RRR parallel manipulator. I. J. Robot. Res. 32(6), 744–759 (2013)
Nokleby, S., Fisher, R., Podhorodeski, R., Firmani, F.: Force capabilities of redundantly-actuated parallel manipulators. Mech. Mach. Theory 40(5), 578–599 (2005). https://doi.org/10.1016/j.mechmachtheory.2004.10.005
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Koene, R., Meijaard, J., van de Ruit, M., Mugge, W., van der Wijk, V. (2023). Design and Validation of a 3-DoF Wrist Perturbator Based on an Inverted Spatial Redundant 4-RUU Parallel Manipulator. In: Okada, M. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2023. Mechanisms and Machine Science, vol 147. Springer, Cham. https://doi.org/10.1007/978-3-031-45705-0_76
Download citation
DOI: https://doi.org/10.1007/978-3-031-45705-0_76
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-45704-3
Online ISBN: 978-3-031-45705-0
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)