Avtor/Urednik		Oblak, Jakob; Matjačić, Zlatko
Naslov		On stability and passivity of haptic devices characterized by a series elastic actuation and considerable end-point mass
Tip		članek
Vir		In: Rehab Week 2011. INRS 2011 - International neurorehabilitation symposium 2011, ICVR 2011- International conference on virtual rehabilitation 2011, ICORR 2011 - 2011 IEEE International conference on rehabilitation robotics. Piscataway: IEEE,
Leto izdaje		2011
Obseg		str. 1042-6
Jezik		eng
Abstrakt		Series elastic actuators have considerable potential in rehabilitation robotics. However, the reflected mass of the motor and considerable robot's end-point mass, both linked by an elastic element, result in a potentially unstable coupled mechanical oscillator. Since rehabilitation devices are in constant contact with patients, safety concerns and consequently the devices stability are very important. In this study, the conservative conditions that guarantee the stability of the haptic device (with a considerable end-point mass and driven by a series elastic actuator) were established. We have shown that sufficient damping should be presented in parallel to the spring in order to achieve the passivity of the haptic device. Theoretical results were confirmed in an experimental evaluation on previously developed rehabilitation device.
Deskriptorji		REHABILITATION ROBOTICS