Exploring Strategies for Implementing Negative Inertia on The Shoulder Elbow Perturbator

Master thesis (2024)

Authors

S. Osamah Mechanical Engineering

Contributors

A.H.A. Stienen Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering (mentor)
J.C. van Zanten Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering (mentor)
F.C.T. van der Helm Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering (graduation committee member)
M. Wiertlewski Human-Robot Interaction - Mechanical, Maritime and Materials Engineering (graduation committee member)
Faculty
Mechanical Engineering
More Info
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Published Date

29-08-2024

Language

English

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Faculty

Mechanical Engineering

Abstract

This research investigates methodologies to reduce and implement negative inertia in robots for upper extremity diagnostics and rehabilitation. The robot’s responsiveness is enhanced by integrating accelerometers and Kalman filters into the control scheme, ensuring smoother physical human-robot interactions. A force gain that mimics negative inertia significantly improves system dynamics within the admittance control framework. Introducing dead zones for force and acceleration stabilizes responses at lower rendered inertia, crucial for handling spastic conditions. However, this research identifies a lack of standardized evaluation methods for negative inertia and highlights hardware constraints, such as bandwidth limitations, that restrict performance. Future research should focus on establishing evaluation standards and optimizing hardware to refine control precision. This work demonstrates the potential of advanced control strategies to optimize robotic rehabilitation, paving the way for more effective diagnostic and therapeutic interventions.