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

doi:10.1007/978-3-031-45705-0_76

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 volume › Conference contribution › Scientific › peer-review

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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 language	English
Title of host publication	Advances in Mechanism and Machine Science
Subtitle of host publication	Proceedings of the 16th IFToMM World Congress 2023
Editors	Masafumi Okada
Publisher	Springer
Pages	786-796
Number of pages	11
Volume	1
ISBN (Electronic)	978-3-031-45705-0
ISBN (Print)	978-3-031-45704-3
DOIs	https://doi.org/10.1007/978-3-031-45705-0_76
Publication status	Published - 2023
Event	16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023 - Tokyo, Japan Duration: 5 Nov 2023 → 9 Nov 2023

Publication series

Name	Mechanisms and Machine Science
Volume	147
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Conference

Conference	16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023
Country/Territory	Japan
City	Tokyo
Period	5/11/23 → 9/11/23

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

Access to Document

10.1007/978-3-031-45705-0_76

978-3-031-45705-0_76Final published version, 2.28 MB

Cite this

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 M. Okada (Ed.), Advances in Mechanism and Machine Science : Proceedings of the 16th IFToMM World Congress 2023 (Vol. 1, pp. 786-796). (Mechanisms and Machine Science; Vol. 147). Springer. https://doi.org/10.1007/978-3-031-45705-0_76

Koene, Robbert ; Meijaard, Jaap ; van de Ruit, Mark et al. / Design and Validation of a 3-DoF Wrist Perturbator Based on an Inverted Spatial Redundant 4-RUU Parallel Manipulator. Advances in Mechanism and Machine Science : Proceedings of the 16th IFToMM World Congress 2023. editor / Masafumi Okada. Vol. 1 Springer, 2023. pp. 786-796 (Mechanisms and Machine Science).

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

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.",

keywords = "Bracelet, Force perturbation, Human arm, Mechatronics, Parallel manipulator, System identification, Wearable device",

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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.; 16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023 ; Conference date: 05-11-2023 Through 09-11-2023",

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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 M Okada (ed.), Advances in Mechanism and Machine Science : Proceedings of the 16th IFToMM World Congress 2023. vol. 1, Mechanisms and Machine Science, vol. 147, Springer, pp. 786-796, 16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023, Tokyo, Japan, 5/11/23. https://doi.org/10.1007/978-3-031-45705-0_76

Design and Validation of a 3-DoF Wrist Perturbator Based on an Inverted Spatial Redundant 4-RUU Parallel Manipulator. / Koene, Robbert; Meijaard, Jaap ; van de Ruit, Mark et al.
Advances in Mechanism and Machine Science : Proceedings of the 16th IFToMM World Congress 2023. ed. / Masafumi Okada. Vol. 1 Springer, 2023. p. 786-796 (Mechanisms and Machine Science; Vol. 147).

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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Koene R, Meijaard J , van de Ruit M , Mugge W , van der Wijk V. Design and Validation of a 3-DoF Wrist Perturbator Based on an Inverted Spatial Redundant 4-RUU Parallel Manipulator. In Okada M, editor, Advances in Mechanism and Machine Science : Proceedings of the 16th IFToMM World Congress 2023. Vol. 1. Springer. 2023. p. 786-796. (Mechanisms and Machine Science). doi: 10.1007/978-3-031-45705-0_76