A system capable of simulating the dynamic behavior of a single DOF joint of the human arm was developed. The inertia, stiffness and damping produced by the passive tissue, as well as the muscle torque and its variable stiffness and damping specific to human shoulder, elbow, wrist, and finger joints can be accurately reproduced. The torque created by external loads and by active assistive devices for people with disabilities, can be emulated. This allows the system to be used for safety and performance evaluation of control algorithms implemented in active orthotic, prosthetic, and rehabilitation devices in a safe and highly reproducible environment, before testing on actual human subjects.
- Dynamic Systems and Control Division
Design and Development of a Human Arm Joint Simulator for Evaluation of Active Assistive Devices Control Algorithms
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Taheri, B, Case, D, & Richer, E. "Design and Development of a Human Arm Joint Simulator for Evaluation of Active Assistive Devices Control Algorithms." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 707-714. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8707
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