Bilateral Manipulandum to Synthesize Ground Referenced and Interlimb Viscoelastic Loads
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چکیده
bstract – The bilateral system was designed to study limb tiffness in different movement tasks. The mechatronics consists f two angular voice coil actuators (± 40 Nm) with embedded otary (± 20°) and torque sensors driven by voltage controlled urrent sources. DSP software routines to synthesize isotonic preloads, stretches) as well as viscoelastic load schemes (Voigt odel) were implemented for each sensor-actuator. The oftware further provides coupling of both sensor-actuators for terlimb loads as well as real-time video functions for xperiment guidance. The system’s performance was tested in orearm extensions against ground referenced and interlimb iscoelastic loads. eywords – joint stiffness, bimanual contraction, interlimb ynamics, force feedback
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تاریخ انتشار 2001