MARC details
| 000 -LEADER |
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| fixed length control field |
03199nam a22004697a 4500 |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION |
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| fixed length control field |
130912s20132013 xxu||||| |||| 00| 0 eng dOvid Technologies |
| 022 ## - INTERNATIONAL STANDARD SERIAL NUMBER |
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| International Standard Serial Number |
0165-0270 |
| 040 ## - CATALOGING SOURCE |
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| Original cataloging agency |
Ovid MEDLINE(R) |
| 099 ## - LOCAL FREE-TEXT CALL NUMBER (OCLC) |
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| PMID |
23313756 |
| 245 ## - TITLE STATEMENT |
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| Title |
Compensation for the intrinsic dynamics of the InMotion2 robot. |
| 251 ## - Source |
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| Source |
Journal of Neuroscience Methods. 214(1):15-20, 2013 Mar 30. |
| 252 ## - Abbreviated Source |
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| Abbreviated source |
J Neurosci Methods. 214(1):15-20, 2013 Mar 30. |
| 253 ## - Journal Name |
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| Journal name |
Journal of neuroscience methods |
| 266 ## - Date added to catalog |
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| Date added to catalog |
2013-09-17 |
| 520 ## - SUMMARY, ETC. |
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| Abstract |
The InMotion2 and other similarly designed robots, are commonly used for rehabilitation of neurological injuries and motor adaptation studies. These robots are used to simulate haptic environments; however, anisotropy in end-point impedance due to the intrinsic robot dynamics can compromise these experiments. The goal was to decrease the magnitude and anisotropy of the robot impedance using a dynamic compensation algorithm that reduces the forces normally felt by the user during rapid movements. We tested this algorithm with two different methods for real-time calculation of derivatives, a novel quadratic fit method (CQF) and the commonly used backward derivative method (CBD). Six subjects performed a series of point-to-point movements under three conditions (no compensation, CQF, CBD), in different directions at peak speeds of 50, 100 and 150 cm/s. Without compensation, tangential peak-to-peak forces were as large as 69 N in certain directions at the 150 cm/s speed. Both CQF and CBD significantly reduced tangential forces in all directions and speeds. CQF outperformed CBD in the directions with highest intrinsic impedance, reducing tangential forces by 64% in these directions. Compensation also significantly reduced forces normal to the movement direction, with CQF again outperforming CBD in several cases. Anisotropy was assessed by the range of tangential peak-to-peak forces across movement directions. In the no compensation condition, anisotropy was as high as 52.7 N at the 150 cm/s speed, but an average anisotropy reduction of 74% was achieved with CQF. The CQF method can significantly reduce impedance and anisotropy in this class of robot. Copyright 2013 Elsevier B.V. All rights reserved. |
| 546 ## - LANGUAGE NOTE |
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| Language note |
English |
| 650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM |
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| Topical term or geographic name entry element |
*Robotics |
| 650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM |
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| Topical term or geographic name entry element |
Adult |
| 650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM |
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| Topical term or geographic name entry element |
Algorithms |
| 650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM |
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| Topical term or geographic name entry element |
Anisotropy |
| 650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM |
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| Topical term or geographic name entry element |
Arm/ir [Innervation] |
| 650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM |
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| Topical term or geographic name entry element |
Arm/ph [Physiology] |
| 650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM |
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| Topical term or geographic name entry element |
Biomechanics |
| 650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM |
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| Topical term or geographic name entry element |
Electric Impedance |
| 650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM |
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| Topical term or geographic name entry element |
Female |
| 650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM |
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| Topical term or geographic name entry element |
Humans |
| 650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM |
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| Topical term or geographic name entry element |
Male |
| 650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM |
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| Topical term or geographic name entry element |
Movement Disorders/rh [Rehabilitation] |
| 650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM |
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| Topical term or geographic name entry element |
Psychomotor Performance |
| 650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM |
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| Topical term or geographic name entry element |
Robotics/is [Instrumentation] |
| 650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM |
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| Topical term or geographic name entry element |
Torque |
| 650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM |
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| Topical term or geographic name entry element |
Young Adult |
| 651 ## - SUBJECT ADDED ENTRY--GEOGRAPHIC NAME |
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| Institution |
MedStar National Rehabilitation Network |
| 657 ## - INDEX TERM--FUNCTION |
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| Medline publication type |
Journal Article |
| 657 ## - INDEX TERM--FUNCTION |
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| Medline publication type |
Randomized Controlled Trial |
| 657 ## - INDEX TERM--FUNCTION |
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| Medline publication type |
Research Support, U.S. Gov't, Non-P.H.S. |
| 700 ## - ADDED ENTRY--PERSONAL NAME |
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| Local Authors |
Lum, Peter S |
| 700 ## - ADDED ENTRY--PERSONAL NAME |
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| Local Authors |
Nguyen, Hoi B |
| 790 ## - Authors |
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| All authors |
Lum PS, Nguyen HB |
| 856 ## - ELECTRONIC LOCATION AND ACCESS |
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| DOI |
<a href="http://dx.doi.org/10.1016/j.jneumeth.2013.01.001">http://dx.doi.org/10.1016/j.jneumeth.2013.01.001</a> |
| Public note |
http://dx.doi.org/10.1016/j.jneumeth.2013.01.001 |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) |
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| Koha item type |
Journal Article |
| Item type description |
Journal article |
