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

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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

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