TY - GEN
T1 - Design of A 2D haptic system with passive variable stiffness using permanent magnets for upper-limb rehabilitation
AU - Jujjavarapu, Sri Sadhan
AU - Memar, Amirhossein H.
AU - Esfahani, Ehsan T.
N1 - Publisher Copyright: © 2017 ASME.
PY - 2017
Y1 - 2017
N2 - This paper presents a design of variable stiffness actuation system based on on the force interactions caused by permanent magnets. The system is designed for rehabilitation of the upper limb with the goal to enhance rehabilitation in both clinical and home environments. The proposed active rehabilitation system is composed of a lightweight 6-axes robotic arm to move the patients hand in the desired trajectory. The interaction stiffness is controlled by the mechanism attached to the end-effector. For this purpose, repelling magnet pairs in linear antagonistic configuration are used to control the stiffness of the handle. Stiffness in the mechanism can be controlled via adjusting the distance between the magnets. A mathematical model is presented to analyze the range of adjustable variable stiffness for this mechanism.
AB - This paper presents a design of variable stiffness actuation system based on on the force interactions caused by permanent magnets. The system is designed for rehabilitation of the upper limb with the goal to enhance rehabilitation in both clinical and home environments. The proposed active rehabilitation system is composed of a lightweight 6-axes robotic arm to move the patients hand in the desired trajectory. The interaction stiffness is controlled by the mechanism attached to the end-effector. For this purpose, repelling magnet pairs in linear antagonistic configuration are used to control the stiffness of the handle. Stiffness in the mechanism can be controlled via adjusting the distance between the magnets. A mathematical model is presented to analyze the range of adjustable variable stiffness for this mechanism.
UR - https://www.scopus.com/pages/publications/85034666613
U2 - 10.1115/DETC2017-67669
DO - 10.1115/DETC2017-67669
M3 - Conference contribution
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 19th International Conference on Advanced Vehicle Technologies; 14th International Conference on Design Education; 10th Frontiers in Biomedical Devices
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017
Y2 - 6 August 2017 through 9 August 2017
ER -