A Mechanically adjustable stiffness actuator(MASA) of a robot for knee rehabilitation

Jaewook Oh; Soojun Lee; Myotaeg Lim; Junho Choi

doi:10.1109/ICRA.2014.6907346

A Mechanically adjustable stiffness actuator(MASA) of a robot for knee rehabilitation

Jaewook Oh, Soojun Lee, Myotaeg Lim, Junho Choi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Citations (Scopus)

Abstract

This paper presents a Mechanically Adjustable Stiffness Actuator(MASA) for knee rehabilitation of stroke patients. The MASA is designed for safer and more effective physical human-robot interaction with patients in rehabilitation. The MASA consists of cantilever springs, a double-tripod parallel mechanism, and a torque limiter. Using the double-tripod parallel mechanism and two identical actuators, the effective length and the resting position of the cantilever springs are controlled independently. Changes of the effective length of the cantilever springs result in variation of the stiffness of the MASA. One end of each cantilever springs is attached to an axis via the torque limiter. When an external torque beyond the preset threshold is applied from and to the axis, the torque limiter is released so the axis rotates freely regardless of the position of the actuators. The MASA is used for a knee rehabilitation robot. Due to the springs and the torque limiter, physical safety of the patients is guaranteed in case of unexpected involuntary muscle activities (i.e. spasticity) during a therapy session. With changing stiffness of the MASA, the amount of assistance by the robot is possible to be adjusted.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3384-3389
Number of pages	6
ISBN (Electronic)	9781479936854, 9781479936854
DOIs	https://doi.org/10.1109/ICRA.2014.6907346
Publication status	Published - 2014 Sept 22
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: 2014 May 31 → 2014 Jun 7

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/Territory	China
City	Hong Kong
Period	14/5/31 → 14/6/7

Bibliographical note

Publisher Copyright:
© 2014 IEEE.

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2014.6907346

Cite this

Oh, J., Lee, S., Lim, M., & Choi, J. (2014). A Mechanically adjustable stiffness actuator(MASA) of a robot for knee rehabilitation. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 3384-3389). Article 6907346 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6907346

A Mechanically adjustable stiffness actuator(MASA) of a robot for knee rehabilitation. / Oh, Jaewook; Lee, Soojun; Lim, Myotaeg et al.
Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. p. 3384-3389 6907346 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Oh, J, Lee, S, Lim, M & Choi, J 2014, A Mechanically adjustable stiffness actuator(MASA) of a robot for knee rehabilitation. in Proceedings - IEEE International Conference on Robotics and Automation., 6907346, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 3384-3389, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 14/5/31. https://doi.org/10.1109/ICRA.2014.6907346

Oh J, Lee S, Lim M, Choi J. A Mechanically adjustable stiffness actuator(MASA) of a robot for knee rehabilitation. In Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2014. p. 3384-3389. 6907346. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2014.6907346

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abstract = "This paper presents a Mechanically Adjustable Stiffness Actuator(MASA) for knee rehabilitation of stroke patients. The MASA is designed for safer and more effective physical human-robot interaction with patients in rehabilitation. The MASA consists of cantilever springs, a double-tripod parallel mechanism, and a torque limiter. Using the double-tripod parallel mechanism and two identical actuators, the effective length and the resting position of the cantilever springs are controlled independently. Changes of the effective length of the cantilever springs result in variation of the stiffness of the MASA. One end of each cantilever springs is attached to an axis via the torque limiter. When an external torque beyond the preset threshold is applied from and to the axis, the torque limiter is released so the axis rotates freely regardless of the position of the actuators. The MASA is used for a knee rehabilitation robot. Due to the springs and the torque limiter, physical safety of the patients is guaranteed in case of unexpected involuntary muscle activities (i.e. spasticity) during a therapy session. With changing stiffness of the MASA, the amount of assistance by the robot is possible to be adjusted.",

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A Mechanically adjustable stiffness actuator(MASA) of a robot for knee rehabilitation

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