Robotic measurement and control for chiropractic research | Zendy

Peter Goldsmith | Zendy; Shari Wynd | Zendy; Greg Kawchuk | Zendy

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Robotic measurement and control for chiropractic research

Author(s) -

Peter Goldsmith,

Shari Wynd,

Greg Kawchuk

Publication year - 2006

Publication title -

applied bionics and biomechanics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.397

H-Index - 23

eISSN - 1754-2103

pISSN - 1176-2322

DOI - 10.1533/abbi.2004.0042

Subject(s) - scheme (mathematics) , chiropractic , computer science , control engineering , robot , calibration , iterative learning control , artificial intelligence , control (management) , simulation , control theory (sociology) , engineering , mathematics , medicine , mathematical analysis , statistics , alternative medicine , pathology

The precision and programmability of robotic manipulators makes them suitable for biomechanics research, particularly when an experimental procedure must be accurately repeated multiple times. This paper describes a robotic system used to investigate biomechanical mechanisms of stroke in humans. A parallel robot manipulator is used to reproduce chiropractic manipulations on animal subjects using a 3-D vision system. An algorithm for calibrating the system is proposed and tested on the robot. An iterative learning control scheme is then introduced to improve positional accuracy. Experimental results demonstrate that the calibration procedure and learning scheme are both effective

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