期刊
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
卷 30, 期 -, 页码 688-698出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TNSRE.2022.3158339
关键词
Robots; Robot kinematics; Task analysis; Force; Training; Robot sensing systems; Rendering (computer graphics); Robot; human-robot interaction; bimanual task; coordination training; force field
资金
- National Natural Science Foundation of China [61903181]
- Shenzhen Key Laboratory of Smart Healthcare Engineering [ZDSYS20200811144003009]
- Research Foundation of Guangdong Province [2020ZDZX3001, 2019ZT08Y191]
- Southern University of Science and Technology
This study developed a bilateral robot that can simulate activities of daily life and achieve haptic rendering of bimanual tasks through force field control.
Individuals with physical limb disabilities are often restricted to perform activities of daily life (ADLs). While efficacy of bilateral training has been demonstrated in improving physical coordination of human limbs, few robots have been developed in simulating people's ADLs integrated with task-specific force field control. This study sought to develop a bilateral robot for better task rendering of general ADLs (gADLs), where gADL-consistent workspace is achieved by setting linear motors in series, and haptic rendering of multiple bimanual tasks (coupled, uncoupled and semi-coupled) is enabled by regulating force fields between robotic handles. Experiments were conducted with human users, and our results present a viable method of a single robotic system in simulating multiple physically bimanual tasks. In future, the proposed robotic system is expected to be serving as a coordination training device, and its clinical efficacy will be also investigated.
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