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Comparing admittance control laws for an active head support with healthy subjects

Heuvel, I.S. van den (2020) Comparing admittance control laws for an active head support with healthy subjects.

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Abstract:To evaluate the addition of an admittance controller to a passive head support, a Fitts’ like experiment has been performed on eight healthy subjects. Performance is evaluated by movement time, overshoot and muscle activity and it is investigated if Fitts’ law holds. Subjects were asked to move as fast and accurate as possible towards a virtual target. Head flexion and extension corresponded to moving a cursor up and down a screen. A standard admittance control law with force as input was compared to the passive device. Besides, a case study was performed with two subjects with a second control law; variable admittance control. Results show that movement time has significantly increased when using standard admittance control. Besides, only a small indication that Fitts’ law holds for standard admittance control is given by the linear fit. Furthermore, no difference in muscle activity has been noted between no control and standard admittance control. It is recommended to perform the main experiment once more with less noisy sensors, as this might lead to other conclusions. Regarding the variable admittance control law, no conclusions can be drawn as both subjects show varying results. Except for the movement time in extension direction, here it seems that movement time has increased for variable admittance control to standard admittance control. It is recommended to perform a study with a larger study sample to compare the variable admittance to the standard admittance.
Item Type:Essay (Master)
Faculty:ET: Engineering Technology
Subject:44 medicine
Programme:Biomedical Engineering MSc (66226)
Link to this item:http://purl.utwente.nl/essays/80713
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