Cobotic architecture for prosthetics

Eric L. Faulring; Ed Colgate; Michael Peshkin

doi:10.1109/IEMBS.2006.259556

Cobotic architecture for prosthetics

Eric L. Faulring^*, Ed Colgate, Michael Peshkin

^*Corresponding author for this work

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Scopus citations

Abstract

We envision cobotic infinitely-variable transmissions (IVTs) as an enabling technology for haptics and prosthetics that will allow for increases in the dynamic range of these devices while simultaneously permitting reductions in actuator size and power requirements. Use of cobotic IVTs eliminates the need to make compromises on output flow and effort, which are inherent to choosing a fixed transmission ratio drivetrain. The result is a mechanism with enhanced dynamic range that extends continuously from a completely clutched state to a highly backdrivable state. This high dynamic range allows cobotic devices to control impedance with a high level of fidelity. In this paper, we discuss these and other motivations for using parallel cobotic transmission architecture in prosthetic devices.

Original language	English (US)
Title of host publication	28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06
Pages	5635-5637
Number of pages	3
DOIs	https://doi.org/10.1109/IEMBS.2006.259556
State	Published - Dec 1 2006
Event	28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06 - New York, NY, United States Duration: Aug 30 2006 → Sep 3 2006

Other

Other	28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06
Country/Territory	United States
City	New York, NY
Period	8/30/06 → 9/3/06

ASJC Scopus subject areas

Signal Processing
Biomedical Engineering
Computer Vision and Pattern Recognition
Health Informatics

Access to Document

10.1109/IEMBS.2006.259556

Cite this

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title = "Cobotic architecture for prosthetics",

abstract = "We envision cobotic infinitely-variable transmissions (IVTs) as an enabling technology for haptics and prosthetics that will allow for increases in the dynamic range of these devices while simultaneously permitting reductions in actuator size and power requirements. Use of cobotic IVTs eliminates the need to make compromises on output flow and effort, which are inherent to choosing a fixed transmission ratio drivetrain. The result is a mechanism with enhanced dynamic range that extends continuously from a completely clutched state to a highly backdrivable state. This high dynamic range allows cobotic devices to control impedance with a high level of fidelity. In this paper, we discuss these and other motivations for using parallel cobotic transmission architecture in prosthetic devices.",

author = "Faulring, {Eric L.} and Ed Colgate and Michael Peshkin",

year = "2006",

month = dec,

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doi = "10.1109/IEMBS.2006.259556",

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booktitle = "28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06",

note = "28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06 ; Conference date: 30-08-2006 Through 03-09-2006",

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Faulring, EL, Colgate, E & Peshkin, M 2006, Cobotic architecture for prosthetics. in 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06., 4030526, pp. 5635-5637, 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06, New York, NY, United States, 8/30/06. https://doi.org/10.1109/IEMBS.2006.259556

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AU - Colgate, Ed

AU - Peshkin, Michael

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AB - We envision cobotic infinitely-variable transmissions (IVTs) as an enabling technology for haptics and prosthetics that will allow for increases in the dynamic range of these devices while simultaneously permitting reductions in actuator size and power requirements. Use of cobotic IVTs eliminates the need to make compromises on output flow and effort, which are inherent to choosing a fixed transmission ratio drivetrain. The result is a mechanism with enhanced dynamic range that extends continuously from a completely clutched state to a highly backdrivable state. This high dynamic range allows cobotic devices to control impedance with a high level of fidelity. In this paper, we discuss these and other motivations for using parallel cobotic transmission architecture in prosthetic devices.

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Cobotic architecture for prosthetics

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