Pick to place trajectories in human arm training environment

Authors:
Jaka Ziherl;Janez Podobnik;Mario Sikic;Marko Munih
Affiliations:
(Correspd. Tel.: +386 1 4768 485/ Fax: +386 1 4768 239/ E-mail: jaka.ziherl@robo.fe.uni-lj.si) Laboratory of Robotics and Biomedical Engineering, Faculty of Electrical Engineering, University of L ...;Laboratory of Robotics and Biomedical Engineering, Faculty of Electrical Engineering, University of Ljubljana, Ljubljana, Slovenia;Laboratory of Robotics and Biomedical Engineering, Faculty of Electrical Engineering, University of Ljubljana, Ljubljana, Slovenia;Laboratory of Robotics and Biomedical Engineering, Faculty of Electrical Engineering, University of Ljubljana, Ljubljana, Slovenia
Venue:
Technology and Health Care
Year:
2009

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Abstract

This paper presents a new method of trajectory planning in rehabilitation robotics. First were measured in healthy subject the pick to place trajectories while haptic robot is in zero impedance space. B-spline approximation is used to mathematically define the measured paths. This trajectory path serves as a central line for the rounding haptic tunnel. In addition to radial elastic and damping force an optional guidance force can be applied along the tunnel to reach the place point. The B-spline control points were observed around the robot and arm workspace. The trajectory path defined with B-splines is compared with minimum jerk and minimum torque defined trajectories. Finally are compared the pick to place movements with and without tunnel use in healthy subject and in stroke hemiplegic patient.