@inproceedings{c21e194317764c5e858cb548e2f7d88f,
title = "Design and optimization of PARTNER: A parallel actuated robotic trainer for NEuroRehabilitation",
abstract = "Robotic devices are a promising and dynamic tool in the realm of post-stroke rehabilitation. Researchers are still investigating how the use of robots affects motor learning and what design characteristics best encourage recovery. We present a parallel-actuated, end-effector robot designed to provide spatial assistance for upper-limb therapy while exhibiting low impedance and high backdrivability. A gradient based optimization was performed to find an optimal design that accounted for force isotropy, mechanical advantage, workspace size, and counter-balancing. A beta prototype has been built to these specifications (low impedance and high backdrivability) and has undergone initial controller performance as well as fit and function testing. By fitting a nonlinear model to experimental frequency response data, the apparent mass, viscous friction coefficient, and dynamic dry friction coefficient were determined to be 0.242 kg, 0.114 Ns/m, and 0.894 N respectively. The robot will serve as a testing platform to investigate motor learning and evaluate the efficacy of control schemes for post-stroke movement therapy.",
author = "Hossein Taheri and Goodwin, {Stephen A.} and Tigue, {James A.} and Perry, {Joel C.} and Wolbrecht, {Eric T.}",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016 ; Conference date: 16-08-2016 Through 20-08-2016",
year = "2016",
month = oct,
day = "13",
doi = "10.1109/EMBC.2016.7591149",
language = "English",
series = "Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2128--2132",
booktitle = "2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016",
address = "United States",
}