Experimental validation of an impedance controlled parallel robot for postural rehabilitation

F. Patane; S. Rossi; P. Cappa

doi:10.1109/BioRob.2012.6290945

Experimental validation of an impedance controlled parallel robot for postural rehabilitation

F. Patane, S. Rossi, P. Cappa

Ospedale Pediatrico Bambino Gesu

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Dynamic posturography apparatuses are important tools in the diagnosis and rehabilitation of the equilibrium control capabilities. The mechanical systems used in dynamic posturography consist in moving bases actuated by elastic elements or, more recently, by servo-motors. In this work, the accuracy of a robot for postural rehabilitation, named RotoBiT ^3D, controlled in impedance, was analyzed experimentally by means of different kinds of tests. The accuracy of the robot, which was set as a spring-dumper emulator, resulted more than sufficient, in terms of time constant, in relation to the expected use of the device.

Original language	English
Title of host publication	Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Pages	1077-1080
Number of pages	4
DOIs	https://doi.org/10.1109/BioRob.2012.6290945
Publication status	Published - 2012
Event	2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome, Italy Duration: Jun 24 2012 → Jun 27 2012

Other

Other	2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Country/Territory	Italy
City	Rome
Period	6/24/12 → 6/27/12

ASJC Scopus subject areas

Artificial Intelligence
Biomedical Engineering
Mechanical Engineering

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10.1109/BioRob.2012.6290945

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Patane, F, Rossi, S & Cappa, P 2012, Experimental validation of an impedance controlled parallel robot for postural rehabilitation. in Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics., 6290945, pp. 1077-1080, 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, Rome, Italy, 6/24/12. https://doi.org/10.1109/BioRob.2012.6290945

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doi = "10.1109/BioRob.2012.6290945",

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AB - Dynamic posturography apparatuses are important tools in the diagnosis and rehabilitation of the equilibrium control capabilities. The mechanical systems used in dynamic posturography consist in moving bases actuated by elastic elements or, more recently, by servo-motors. In this work, the accuracy of a robot for postural rehabilitation, named RotoBiT 3D, controlled in impedance, was analyzed experimentally by means of different kinds of tests. The accuracy of the robot, which was set as a spring-dumper emulator, resulted more than sufficient, in terms of time constant, in relation to the expected use of the device.

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BT - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics

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ER -

Experimental validation of an impedance controlled parallel robot for postural rehabilitation

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