Robotic Measurement and Control for Chiropractic Research
The precision and programmability of robotic manipulators makes them suitable for biomechanics research, particularly when an experimental procedure must be accurately repeated multiple times. This paper describes a robotic system used to investigate biomechanical mechanisms of stroke in humans. A p...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2006-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1533/abbi.2004.0042 |
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| _version_ | 1832554034688425984 |
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| author | P. Goldsmith S. Wynd G. Kawchuk |
| author_facet | P. Goldsmith S. Wynd G. Kawchuk |
| author_sort | P. Goldsmith |
| collection | DOAJ |
| description | The precision and programmability of robotic manipulators makes them suitable for biomechanics research, particularly when an experimental procedure must be accurately repeated multiple times. This paper describes a robotic system used to investigate biomechanical mechanisms of stroke in humans. A parallel robot manipulator is used to reproduce chiropractic manipulations on animal subjects using a 3-D vision system. An algorithm for calibrating the system is proposed and tested on the robot. An iterative learning control scheme is then introduced to improve positional accuracy. Experimental results demonstrate that the calibration procedure and learning scheme are both effective. |
| format | Article |
| id | doaj-art-adc6392ab1b74beaae9f805030af3c66 |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2006-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-adc6392ab1b74beaae9f805030af3c662025-02-03T05:52:36ZengWileyApplied Bionics and Biomechanics1176-23221754-21032006-01-0131434810.1533/abbi.2004.0042Robotic Measurement and Control for Chiropractic ResearchP. Goldsmith0S. Wynd1G. Kawchuk2University of Calgary, 2500 University Drive NW, Calgary, Alberta, T2N 1N4, CanadaUniversity of Calgary, 2500 University Drive NW, Calgary, Alberta, T2N 1N4, CanadaUniversity of Alberta, 114 St - 89 Ave, Edmonton, Alberta, T6G 2E1, CanadaThe precision and programmability of robotic manipulators makes them suitable for biomechanics research, particularly when an experimental procedure must be accurately repeated multiple times. This paper describes a robotic system used to investigate biomechanical mechanisms of stroke in humans. A parallel robot manipulator is used to reproduce chiropractic manipulations on animal subjects using a 3-D vision system. An algorithm for calibrating the system is proposed and tested on the robot. An iterative learning control scheme is then introduced to improve positional accuracy. Experimental results demonstrate that the calibration procedure and learning scheme are both effective.http://dx.doi.org/10.1533/abbi.2004.0042 |
| spellingShingle | P. Goldsmith S. Wynd G. Kawchuk Robotic Measurement and Control for Chiropractic Research Applied Bionics and Biomechanics |
| title | Robotic Measurement and Control for Chiropractic Research |
| title_full | Robotic Measurement and Control for Chiropractic Research |
| title_fullStr | Robotic Measurement and Control for Chiropractic Research |
| title_full_unstemmed | Robotic Measurement and Control for Chiropractic Research |
| title_short | Robotic Measurement and Control for Chiropractic Research |
| title_sort | robotic measurement and control for chiropractic research |
| url | http://dx.doi.org/10.1533/abbi.2004.0042 |
| work_keys_str_mv | AT pgoldsmith roboticmeasurementandcontrolforchiropracticresearch AT swynd roboticmeasurementandcontrolforchiropracticresearch AT gkawchuk roboticmeasurementandcontrolforchiropracticresearch |