Title :
Bilateral manipulandum to synthesize ground referenced and interlimb viscoelastic loads
Author :
Gallasch, E. ; Rafolt, D. ; Taferner, HP ; Fend, M.
Author_Institution :
Dept. of Physiol., Graz Univ., Austria
Abstract :
The bilateral system was designed to study limb stiffness in different movement tasks. The mechatronics consists of two angular voice coil actuators (±40 Nm) with embedded rotary (±20°) and torque sensors driven by voltage controlled current sources. DSP software routines to synthesize isotonic (preloads, stretches) as well as viscoelastic load schemes (Voigt model) were implemented for each sensor-actuator. The software further provides coupling of both sensor-actuators for interlimb loads as well as real-time video functions for experiment guidance. The system´s performance was tested in forearm extensions against ground referenced and interlimb viscoelastic loads.
Keywords :
biocontrol; biomechanics; biomedical transducers; electric actuators; force sensors; mechatronics; medical control systems; medical signal processing; real-time systems; viscoelasticity; DSP software routines; Voigt model; bilateral manipulandum; embedded rotary sensors; embedded torque sensors; forearm extensions; ground referenced viscoelastic loads; interlimb loads; interlimb viscoelastic loads; isotonic load schemes; joint muscle tone assessment; limb stiffness; mechatronics; movement tasks; preloads; real-time video functions; sensor-actuator; stretches; stroke patient sensory-motor retraining; two angular voice coil actuators; viscoelastic load schemes; voltage controlled current sources; Coils; Control system synthesis; Digital signal processing; Elasticity; Load modeling; Mechatronics; Pneumatic actuators; Torque control; Viscosity; Voltage control;
Conference_Titel :
Engineering in Medicine and Biology Society, 2001. Proceedings of the 23rd Annual International Conference of the IEEE
Print_ISBN :
0-7803-7211-5
DOI :
10.1109/IEMBS.2001.1020394
