TY - JOUR
T1 - Design and development of a novel robotic platform for neuro-robotics applications
T2 - The NEURobotics ARM (NEURARM)
AU - Cattin, Emanuele
AU - Roccella, Stefano
AU - Vitiello, Nicola
AU - Sardellitti, Irene
AU - Artemiadis, Panagiotis K.
AU - Vacalebri, Pierpaolo
AU - Vecchi, Fabrizio
AU - Carrozza, Maria Chiara
AU - Kyriakopoulos, Kostas J.
AU - Dario, Paolo
N1 - Funding Information:
Kostas Kyriakopoulos received the Diploma in Mechanical Engineering with Honors from the National Technical University of Athens (NTUA), Greece, in 1985, and the MS and PhD in Electrical, Computer & Systems Engineering from Rensselaer Polytechnic Institute (RPI), Troy, NY, in 1987 and 1991, respectively. From 1988 to 1991 he did research at the NASA Center for Intelligent Robotic Systems for Space Exploration. Between 1991 and 1993 he was a Research Assis-tant Professor at the Electrical, Computer and Systems Engineering Department of RPI and the New York State Center for Advanced Technology in Automation and Robotics. Since 1994 he has been with the Control Systems Laboratory of the Mechanical Engineering Department at NTUA, Greece, where he currently serves as a Professor and Director of the Computation Lab. His current interests are in the area of non-linear control systems applications in (i) sensor-based motion planning and control of multi-robotic systems: manipulators & vehicles (mobile, underwater and aerial) and (ii) micro-mechatronics. He was awarded the G. Samaras Award of Academic Excellence from NTUA, the Bodosakis Foundation Fellowship (1986–1989), the Alexander Onassis Foundation Fellowship (1989–1990) and the Alexander Von Humboldt Foundation Fellowship (1993). He has published 150 papers in journals and refereed conferences; he serves on the Editorial Committee and as a regular reviewer of a number of journals and conferences, while he has served as an Administrative Member of a number of international conferences. He has contributed to a large number of projects funded by the European Commission and the Greek Secretariat for Research & Technology. He is a member of IEEE, EURON and the Technical Chamber of Greece.
Funding Information:
Panagiotis K. Artemiadis received the Diploma in mechanical engineering in 2003 from the National Technical University of Athens, Greece, where he is currently working towards the PhD degree. His research interest include neural control of robots, brain–machine interfaces, orthotic and prostetic robotics and neural decoding. He is a regular reviewer of a number of conferences, while he is working in projects funded by the European Commission and the Greek secretariat for Research & Technology. He is a student member of IEEE and the Technical Chamber of Greece.
PY - 2008/1/1
Y1 - 2008/1/1
N2 - 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.
AB - 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.
KW - Agonist-antagonist actuation
KW - Anthropomorphic
KW - Biorobotics
KW - Cable-driven robot
KW - Neuro-robotics
KW - Robotic arm
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U2 - 10.1163/156855308X291827
DO - 10.1163/156855308X291827
M3 - Article
AN - SCOPUS:40149089247
SN - 0169-1864
VL - 22
SP - 3
EP - 37
JO - Advanced Robotics
JF - Advanced Robotics
IS - 1
ER -