Cobotic architecture for prosthetics

Eric L. Faulring*, Ed Colgate, Michael Peshkin

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish (US)
Title of host publication28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06
Pages5635-5637
Number of pages3
DOIs
StatePublished - Dec 1 2006
Event28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06 - New York, NY, United States
Duration: Aug 30 2006Sep 3 2006

Other

Other28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06
CountryUnited States
CityNew York, NY
Period8/30/069/3/06

ASJC Scopus subject areas

  • Signal Processing
  • Biomedical Engineering
  • Computer Vision and Pattern Recognition
  • Health Informatics

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