Actuation design methodology for haptic interfaces and rehabilitation systems

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication8th IEEE International Conference on Application of Information and Communication Technologies, AICT 2014 - Conference Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781479941209
DOIs
Publication statusPublished - 2014
Event8th IEEE International Conference on Application of Information and Communication Technologies, AICT 2014 - Astana, Kazakhstan
Duration: Oct 15 2014Oct 17 2014

Other

Other8th IEEE International Conference on Application of Information and Communication Technologies, AICT 2014
CountryKazakhstan
CityAstana
Period10/15/1410/17/14

Keywords

  • Actuation system design
  • Actuation system optimization
  • Haptic interface
  • Rehabilitation system

ASJC Scopus subject areas

  • Computer Science Applications
  • Information Systems
  • Computer Networks and Communications

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  • Cite this

    Folgheraiter, M. (2014). Actuation design methodology for haptic interfaces and rehabilitation systems. In 8th IEEE International Conference on Application of Information and Communication Technologies, AICT 2014 - Conference Proceedings [7035920] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICAICT.2014.7035920