TY - GEN
T1 - Actuation design methodology for haptic interfaces and rehabilitation systems
AU - Folgheraiter, Michele
PY - 2014
Y1 - 2014
N2 - This paper introduces a methodology and a software framework intended to optimize and speed up the design process of a haptic interface or a rehabilitation system. Starting from an initial mechanical design the procedure allows to export the kinematic and dynamic properties of the robotic system in a simulation environment. The software receives as additional input the Cartesian or joints trajectories and generates as output the required torques at the joints. From the recorded measurements the program extracts the torque ranges necessary to choose a suitable actuation system for the robot. The possibility to run the simulation in batch modality allows also to define different optimization techniques that may be used to reduce the overall system weight or increase its payload.
AB - This paper introduces a methodology and a software framework intended to optimize and speed up the design process of a haptic interface or a rehabilitation system. Starting from an initial mechanical design the procedure allows to export the kinematic and dynamic properties of the robotic system in a simulation environment. The software receives as additional input the Cartesian or joints trajectories and generates as output the required torques at the joints. From the recorded measurements the program extracts the torque ranges necessary to choose a suitable actuation system for the robot. The possibility to run the simulation in batch modality allows also to define different optimization techniques that may be used to reduce the overall system weight or increase its payload.
KW - Actuation system design
KW - Actuation system optimization
KW - Haptic interface
KW - Rehabilitation system
UR - http://www.scopus.com/inward/record.url?scp=84988287767&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84988287767&partnerID=8YFLogxK
U2 - 10.1109/ICAICT.2014.7035920
DO - 10.1109/ICAICT.2014.7035920
M3 - Conference contribution
AN - SCOPUS:84988287767
T3 - 8th IEEE International Conference on Application of Information and Communication Technologies, AICT 2014 - Conference Proceedings
BT - 8th IEEE International Conference on Application of Information and Communication Technologies, AICT 2014 - Conference Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th IEEE International Conference on Application of Information and Communication Technologies, AICT 2014
Y2 - 15 October 2014 through 17 October 2014
ER -