Design and development of a novel robotic platform for neuro-robotics applications: The NEURobotics ARM (NEURARM)

Cattin, E; Roccella, S; Vitiello, N; Sardellitti, I; Artemiadis, PK; Vacalebri, P; Vecchi, F; Carrozza, MC; Kyriakopoulos, KJ; Dario, P

dc.contributor.author	Cattin, E	en
dc.contributor.author	Roccella, S	en
dc.contributor.author	Vitiello, N	en
dc.contributor.author	Sardellitti, I	en
dc.contributor.author	Artemiadis, PK	en
dc.contributor.author	Vacalebri, P	en
dc.contributor.author	Vecchi, F	en
dc.contributor.author	Carrozza, MC	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.contributor.author	Dario, P	en
dc.date.accessioned	2014-03-01T01:28:07Z
dc.date.available	2014-03-01T01:28:07Z
dc.date.issued	2008	en
dc.identifier.issn	0169-1864	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/18713
dc.subject	Agonist-antagonist actuation	en
dc.subject	Anthropomorphic	en
dc.subject	Biorobotics	en
dc.subject	Cable-driven robot	en
dc.subject	Neuro-robotics	en
dc.subject	Robotic arm	en
dc.subject.classification	Robotics	en
dc.subject.other	Actuators	en
dc.subject.other	Hydraulic models	en
dc.subject.other	Neural networks	en
dc.subject.other	Potentiometers (electric measuring instruments)	en
dc.subject.other	Robotic arms	en
dc.subject.other	Agonist-antagonist actuation	en
dc.subject.other	Biorobotics	en
dc.subject.other	Cable-driven robots	en
dc.subject.other	Hydraulic actuators	en
dc.subject.other	Kinematics performance	en
dc.subject.other	Neurorobotics	en
dc.subject.other	Neuroscientists	en
dc.subject.other	Anthropomorphic robots	en
dc.title	Design and development of a novel robotic platform for neuro-robotics applications: The NEURobotics ARM (NEURARM)	en
heal.type	journalArticle	en
heal.identifier.primary	10.1163/156855308X291827	en
heal.identifier.secondary	http://dx.doi.org/10.1163/156855308X291827	en
heal.language	English	en
heal.publicationDate	2008	en
heal.abstract	This paper presents the NEURARM, a novel robotic platform specifically designed for performing joint experiments between neuroscience and robotics. The NEURARM replicates the main functions and characteristics of the human arm during the execution of planar movements for reaching and catching a moving object. The NEURARM is a 2-d.o.f. planar robotic platform actuated by means of four linear hydraulic actuators and four cables integrated in agonist-antagonist configuration. The first version of a non-linear spring that will be integrated in series with the actuator has been developed and tested. The main components of the sensory system are four tension sensors on the cables, two angle sensors in the joints, and linear potentiometers and pressure sensors on the pistons. The paper presents the design methodology, the developed components and system, and the experimental characterization of the NEURARM. The available data demonstrate qualitatively that the design is appropriate, that the NEURARM is able to replicate the required maximum kinematics performance and that real joint experiments with neuroscientists can start. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2008.	en
heal.publisher	VSP BV	en
heal.journalName	Advanced Robotics	en
dc.identifier.doi	10.1163/156855308X291827	en
dc.identifier.isi	ISI:000254626900002	en
dc.identifier.volume	22	en
dc.identifier.issue	1	en
dc.identifier.spage	3	en
dc.identifier.epage	37	en