POWER AUGMENTATION IN REHABILITATION ROBOTS

Kelly McClenathan and Tariq Rahman, Ph.D.
Extended Manipulation Laboratory, duPont Hospital for Children/University of Delaware

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 smaller force. This paper describes the preliminary test bed study and details a pilot study currently in progress to investigate the precision and accuracy of the Chameleon under varying gains on the force-amplifier.
Full Paper
Last modified: Thu Jan 21 10:38:39 PST 1999