NDLI: Design of a Rotational Hydroelastic Actuator for a Powered Exoskeleton for Upper Limb Rehabilitation

Content Provider	IEEE Xplore Digital Library
Author	Stienen, A.H.A. Hekman, E.E.G. ter Braak, H. Aalsma, A.M.M. van der Helm, F.C.T. van der Kooij, H.
Copyright Year	1964
Abstract	The goal of this study was to validate the suitability of a novel rotational hydroelastic actuator (rHEA) for use in our new rehabilitation exoskeleton for the upper limbs, the Limpact. The rHEA consists of a rotational hydraulic actuator and a custom-designed symmetric torsion spring in a series-elastic configuration. For rehabilitation therapy and impairment quantification, both compliant impedance control and stiff admittance control modes are possible. In the validation experiments, the torque bandwidth of the rHEA was limited to 18 Hz for a desired 20 N·m reference signal (multisine, constant spectrum) due the transport delays in the long flexible tubes between the valve and cylinder. These transport delays also required changes to existing theoretical models to better fit the models on the measured frequency response functions. The (theoretical) measurable torque resolution was better than 0.01 N ·m and the (validated) delivered torque resolution below 1 N· m. After the validation experiments, further iterative improvements resulted in a spring design capable of a maximum output torque of 50 N·m with an intrinsic stiffness of 150 N· m/rad and a slightly higher bandwidth. With the design locked, the maximum measurable isometric torque is 100 N ·m. In conclusion, the rHEA is suitable for upper limb rehabilitation therapy as it matches the desired performance.
Sponsorship	IEEE Engineering in Medicine and Biology Society
Page Count	8
File Size	1000758
Starting Page	728
Ending Page	735
File Format	PDF
ISSN	00189294
Volume Number	57
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-03-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Exoskeletons Springs Medical treatment Bandwidth Delay Torque measurement Hydraulic actuators Impedance Admittance Valves upper extremities Actuator design rehabilitation robotics stroke rehabilitation
Content Type	Text
Resource Type	Article
Subject	Biomedical Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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