Design and Validation of a 3-DoF Wrist Perturbator Based on an Inverted Spatial Redundant 4-RUU Parallel Manipulator

Robbert Koene, Jaap Meijaard, Mark van de Ruit, Winfred Mugge, Volkert van der Wijk*

*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

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.

Original languageEnglish
Title of host publicationAdvances in Mechanism and Machine Science
Subtitle of host publicationProceedings of the 16th IFToMM World Congress 2023
EditorsMasafumi Okada
PublisherSpringer
Pages786-796
Number of pages11
Volume1
ISBN (Electronic)978-3-031-45705-0
ISBN (Print)978-3-031-45704-3
DOIs
Publication statusPublished - 2023
Event16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023 - Tokyo, Japan
Duration: 5 Nov 20239 Nov 2023

Publication series

NameMechanisms and Machine Science
Volume147
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Conference

Conference16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023
Country/TerritoryJapan
CityTokyo
Period5/11/239/11/23

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

  • Bracelet
  • Force perturbation
  • Human arm
  • Mechatronics
  • Parallel manipulator
  • System identification
  • Wearable device

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