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Modeling Strategies to Study the Performance of a Lower-limb Controlled Haptic Robot for Performing Activities of Daily Living

S. Low

Abstract


Of late, haptically controlled robots have found extensive use in rehabilitation of patients recovering from muscular and orthopeadic injuries [1-5].  However, should a patient experience the entire loss of both upper extremities, he is faced with either seeking a non-moveable prosthetic arm replacement or to await the successful and safe availability of a brain controlled interface (BCI) prosthetic device to allow him to continue with carrying out activities of daily living (ADLs) such as reaching and grasping common objects including grasping a handphone or a drinking cup.

The paper explores modeling strategies which could be used to assess the performance of a lower limb controlled haptic pantograph, in SIM University (UniSIM).  The use of a lower limb-haptic pantograph system to carry out ADLs is proposed as an intermediate alternative to a BCI prosthetic device.  The haptic pantograph had been adapted to fit the sole of either a male or female subject so that a lower limb is able to navigate it.   A series of planned studies to evaluate how the servomotor forces of the pantograph can be haptically adjusted to provide optimum control of a 5 degree-of-freedom (DOF) robotic arm sized to a workspace similar to that of the average anthropometric dimensions of local subjects chosen for the performance evaluation process will be presented.  The studies will be completed once the Institutional Review Board (IRB) of UniSIM has approved the experimental protocol proposal.


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DOI: http://dx.doi.org/10.21535%2FProICIUS.2012.v8.782

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