Abstract
dc:description.abstractJoint torque feedback (JTF) is a new and promising means of kinesthetic feedback to provide information to a person or guide them during a motion task. However, little work has been done to apply the torque feedback to a person. This project evaluates the properties of JTF as haptic feedback, starting from the fabrication of a lightweight elbow haptic exoskeleton. A cheap hobby motor and easily accessible hardware are introduced for manufacturing and open-sourced embedded architecture for data logging. The total cost and the weights are $500 and 509g. Also, as the prerequisite step to assess the JTF in guidance, human perceptual ability to detect JTF was quantified at the elbow during all possible static and dynamic joint statuses. JTF slopes per various joint conditions are derived using the Interweaving Staircase Method. For either directional torque feedback, flexional motion requires 1.89-2.27 times larger speed slope, in mNm/(°/s), than the extensional motion. In addition, we find that JTFs during the same directional muscle's isometric contraction yields a larger slope, in mNm/mNm, than the opposing direction (7.36 times and 1.02 times for extension torque and flexion torque). Finally, the guidance performance of the JTF was evaluated in terms of time delay and position error between the directed input and the wearer's arm. When studying how much the human arm travels with JTF, the absolute magnitude of the input shows more significance than the duration of the input (p-values of <0.0001 and 0.001). In the analysis of tracking the pulse input, the highest torque stiffness, 95 mNm/°, is responsible for the smallest position error, 6.102 ± 5.117°, despite the applied torque acting as compulsory stimuli.
Degree
thesis:*- Name thesis:degree_name
- Doctor of Philosophy
- Level thesis:degree_level
- doctoral
- Discipline thesis:degree_discipline
- Mechanical Engineering
- Department dc:contributor.department
- Mechanical Engineering
- Grantor dc:publisher
- Virginia Tech
- Year dc:date.issued
- 2021
Author and committee
dc:creator, dc:contributor.*- Author dc:creator
-
- Kim, Hubert
- Chair dc:contributor.committeechair
-
- Asbeck, Alan Thomas
- Committee members dc:contributor.committeemember
-
- Leonessa, Alexander
- Wicks, Alfred L.
- Ben-Tzvi, Pinhas
- Nussbaum, Maury A.
Subjects
dc:subject × 6Rights
dc:rights- Statement dc:rights
-
- In Copyright
- Licence dc:rights.uri
Identifiers
dc:identifier.*- Dc Identifier Other
- vt_gsexam:32765
- OAI identifier oai:identifier
- oai:vtechworks.lib.vt.edu:10919/114749