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Related Experiment Videos

Cobotic architecture for prosthetics.

Eeic L Faulring1, J Edward Colgate, Michael A Peshkin

  • 1Chicago PT, LLC, Evanston, IL 60201, USA. eric.faulring@ieee.org

Conference Proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference
|October 20, 2007
PubMed
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Cobotic infinitely-variable transmissions (IVTs) enhance haptics and prosthetics by increasing dynamic range and reducing actuator needs. This technology enables precise impedance control in prosthetic devices.

Area of Science:

  • Robotics
  • Biomechanics
  • Mechanical Engineering

Background:

  • Traditional prosthetic and haptic devices often require compromises between output flow, effort, and actuator size.
  • Fixed transmission ratios limit the dynamic range and impedance control capabilities of current systems.

Purpose of the Study:

  • To introduce cobotic infinitely-variable transmissions (IVTs) as a key technology for advancing haptics and prosthetics.
  • To highlight the benefits of cobotic IVTs in expanding dynamic range and reducing power requirements for robotic devices.

Main Methods:

  • Conceptualization and theoretical discussion of cobotic IVT architecture.
  • Analysis of the impact of IVTs on device dynamic range and impedance control fidelity.

Main Results:

Related Experiment Videos

  • Cobotic IVTs provide a continuously variable transmission ratio, from fully clutched to highly backdrivable states.
  • This enhanced dynamic range allows for high-fidelity impedance control in robotic systems.

Conclusions:

  • Cobotic IVTs offer a significant technological advancement for haptics and prosthetics.
  • The parallel cobotic transmission architecture is particularly promising for prosthetic device applications, enabling improved performance and reduced component size.