Human–machine load sharing in rehabilitation robotics

Article type: Research Article

Authors: Rahman, T. | McClenathan, K.

Affiliations: Extended Manipulation Laboratory, duPont Hospital for Children/University of Delaware, 1600 Rockland Rd., Wilmington, DE 19899, USA. E-mail: rahman@asel.udel.edu

Abstract: A force-assist mechanism has been developed to mount on the Chameleon – a wheelchair mounted rehabilitation robot. The device will amplify the forces applied by the user, making it possible to lift a large weight with a small force. This paper describes the test-bed development; instrumentation of the Chameleon with power assistance; and preliminary results on system efficacy.

DOI: 10.3233/THC-1999-7607

Journal: Technology and Health Care, vol. 7, no. 6, pp. 425-429, 1999