Klein Julius, Roach Nicholas, Burdet Etienne
IEEE Trans Haptics. 2014 Apr-Jun;7(2):229-39. doi: 10.1109/TOH.2013.59.
This paper presents a novel robotic interface to investigate the neuromechanical control of redundant planar arm movements. A unique aspect of this device is the third axis by which the wrist, and hence the pose of the arm can be fully constrained. The topology is based on a 5R, closed loop pantograph, with a decoupled wrist flexion/extension cable actuated mechanism. The design and characterization (in terms of range of motion, impedance, friction and dynamics) are described in this paper. This device is lightweight, safe and has high force capabilities and low impedance. Simple experiments illustrate the advantages of this device for the investigation of redundant motor control in humans.
本文介绍了一种新型机器人接口，用于研究冗余平面手臂运动的神经机械控制。该设备的一个独特之处在于其第三轴，通过该轴可以完全约束手腕，从而约束手臂的姿态。其拓扑结构基于一个5R闭环缩放仪，带有一个解耦的手腕屈伸电缆驱动机构。本文描述了该设备的设计和特性（包括运动范围、阻抗、摩擦力和动力学方面）。该设备重量轻、安全，具有高力承载能力和低阻抗。简单的实验说明了该设备在研究人类冗余运动控制方面的优势。
