NDLI: High-fidelity rendering of virtual objects with the ReHapticKnob - novel avenues in robot-assisted rehabilitation of hand function

Content Provider	IEEE Xplore Digital Library
Author	Metzger, J.-C. Lambercy, O. Gassert, R.
Copyright Year	2012
Description	Author affiliation: Rehabilitation Engineering Lab, Swiss Federal Institute of Technology, ETH Zürich, Switzerland (Metzger, J.-C.; Lambercy, O.; Gassert, R.)
Abstract	Rehabilitation robots can provide intensive and motivating therapy after stroke in order to further promote recovery of sensorimotor function. To provide the necessary patient-robot interaction for the assessment and training of the hand throughout the different phases of recovery, high-fidelity haptic interfaces with a wide impedance width (Z-width) are required. In this paper the Z-width and haptic interaction quality of a 2 degree-of-freedom (DOF) end-effector based hand rehabilitation robot called the ReHapticKnob are evaluated and strategies to improve these parameters are investigated. An impedance-based controller with force feedback was implemented to modulate the apparent impedance of the robot's end-effector. Additionally, a discrete-time adaptive velocity estimator was used to increase the Z-width of the device. The resulting impedance is evaluated and compared to a commercial haptic device (Phantom Premium 1.5) and the achieved Z-width is analyzed in frequency space and on a K-B-plot. With the proposed control strategy the ReHapticKnob shows similar transparent behavior as a Phantom Premium 1.5 but can render much higher impedances, resulting in a unique high-fidelity patient-robot interaction capable of adapting to different impairments and presenting various haptic stimuli.
Starting Page	51
Ending Page	56
File Size	1208425
Page Count	6
File Format	PDF
ISBN	9781467308083
e-ISBN	9781467308090
e-ISBN	9781467308076
DOI	10.1109/HAPTIC.2012.6183769
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-03-04
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Haptic interfaces Medical treatment Impedance Rendering (computer graphics) Phantoms Robot sensing systems hand rehabilitation robot Z-width impedance control virtual wall force feedback
Content Type	Text
Resource Type	Article

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