Cecamore, M;
Gaponov, I;
Miller, SC;
Farkhatdinov, I;
(2024)
Design and Validation of a Haptic Ankle Platform for Physical Human-Machine Interaction.
In:
Proceedings of the 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) 2024.
(pp. pp. 1301-1306).
Institute of Electrical and Electronics Engineers (IEEE)
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Abstract
The paper presents a new modular robotic ankle interface for physical human-robot physical interaction research. We describe the interface's mechanical design, control system, and its experimental validation. The experiments include the controller performance evaluation and haptic interaction trials with a human participant. The advantages of the presented interface include a modular design approach, portability, single-degree-of-freedom actuation, and adjustable ergonomic design. An impedance controller with an update rate of 10 kHz was implemented on a PC communicating with the motor controller using the CAN bus. Three tests were conducted to determine the system's performance. The first test measured the torque transmission capabilities of the platform, validating a gear-up transmission ratio of 20:1 from the theoretical design. The second test identifies the mechanical transfer function of the foot platform showing a cutoff frequency of 0.32 Hz. The third test checked the muscular activation of the Gastrocnemius Medialis and Tibialis Anterior muscles when walking on a virtual floor implemented on the platform. The peak muscular activation was compared to the output torque and angle of the system. Results showed a linear relationship between muscular activation and torque when in contact with the virtual floor. Future work includes controlling virtual jumping using a platform for each foot.
| Type: | Proceedings paper |
|---|---|
| Title: | Design and Validation of a Haptic Ankle Platform for Physical Human-Machine Interaction |
| Event: | 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) 2024 |
| Location: | Heidelberg, Germany |
| Dates: | 1st-4th September 2024 |
| ISBN-13: | 979-8-3503-8652-3 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/BioRob60516.2024.10719789 |
| Publisher version: | https://doi.org/10.1109/biorob60516.2024.10719789 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher's terms and conditions. |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10201444 |
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