| Literature DB >> 9535529 |
M A Lemay1, N Hogan, J W van Dorsten.
Abstract
We investigated the applicability of impedance controllers to robotic orthoses for arm movements. We had tetraplegics turn a crank using their paralyzed arm propelled by a planar robot manipulandum. The robot was under impedance control, and chin motion served as command source. Stiffness varied between 50, 100, or 200 N/m and damping varied between 5 or 15 N/m/s. Results indicated that a low stiffness and high viscosity provided better directional control of the tangential force exerted on the crank.Mesh：
Year: 1998 PMID： 9535529 DOI： 10.1109/86.662626
Source DB: PubMed Journal: IEEE Trans Rehabil Eng ISSN： 1063-6528