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The Effects of Torque Magnitude and Stiffness in Arm Guidance Through Joint Torque Feedback

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dc.contributor.authorKim, Huberten
dc.contributor.authorAsbeck, Alan T.en
dc.date.accessioned2022-02-04T01:32:55Zen
dc.date.available2022-02-04T01:32:55Zen
dc.date.issued2022-01-01en
dc.date.updated2022-02-04T01:32:53Zen
dc.description.abstractJoint torque feedback is a new and intuitive way of delivering kinesthetic feedback to a person or guiding them during motion tasks via wearable devices. In this study, we performed three experiments to understand how the elbow joint responds to guidance via small torques (<1 Nm).We first applied open-loop torque pulses to the elbow, and determined the magnitude and delay of the resulting arm motion. Second, we provided pulses of a desired position trajectory in combination with a torque proportional to the error between the joint's angle and the target angle. We compared the effects of different ratios between the error and applied torque, which is the torque stiffness. Finally, we investigated step inputs from one angle to another in conjunction with different torque stiffnesses. We found that open-loop extensional torques caused large elbow movements, independent of the torque magnitude or duration, while flexional torques caused arm motion proportional to both the magnitude and duration.With position pulses, the highest gain of 0.095 Nm/deg resulted in mean position errors of less than 10 degrees, while the lowest gain of 0.012 Nm/deg resulted in mean position errors of nearly 20 degrees. The higher gains caused the arm to move faster and required higher torques, likely due to masking. The arm had a bandwidth of close to 2 Hz, and step inputs resulted in larger mean errors during flexional motion (15.3 degrees for flexion vs. 9.0 degrees for extension).en
dc.description.versionPublished versionen
dc.format.extentPages 5842-5854en
dc.format.extent13 page(s)en
dc.format.mimetypeapplication/pdfen
dc.identifier.doihttps://doi.org/10.1109/ACCESS.2022.3141981en
dc.identifier.issn2169-3536en
dc.identifier.orcidAsbeck, Alan [0000-0002-5589-7797]en
dc.identifier.urihttp://hdl.handle.net/10919/108128en
dc.identifier.volume10en
dc.language.isoenen
dc.publisherIEEEen
dc.relation.urihttp://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000744487300001&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=930d57c9ac61a043676db62af60056c1en
dc.rightsCreative Commons Attribution 4.0 Internationalen
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/en
dc.subjectComputer Science, Information Systemsen
dc.subjectEngineering, Electrical & Electronicen
dc.subjectTelecommunicationsen
dc.subjectComputer Scienceen
dc.subjectEngineeringen
dc.subjectHaptic feedbacken
dc.subjectmotion trainingen
dc.subjectphysical human-robot interactionen
dc.subjectvirtual wallen
dc.subjectjoint torque feedbacken
dc.subjectTACTILE DETECTIONen
dc.subjectPOSITIONen
dc.subjectPROPRIOCEPTIONen
dc.subjectHUMANSen
dc.subjectVIBROTACTILEen
dc.subjectMOVEMENTen
dc.subjectSENSEen
dc.subject08 Information and Computing Sciencesen
dc.subject09 Engineeringen
dc.subject10 Technologyen
dc.titleThe Effects of Torque Magnitude and Stiffness in Arm Guidance Through Joint Torque Feedbacken
dc.title.serialIEEE Accessen
dc.typeArticle - Refereeden
dc.type.dcmitypeTexten
dc.type.otherArticleen
dc.type.otherJournalen
pubs.organisational-group/Virginia Techen
pubs.organisational-group/Virginia Tech/Engineeringen
pubs.organisational-group/Virginia Tech/Engineering/Mechanical Engineeringen
pubs.organisational-group/Virginia Tech/All T&R Facultyen
pubs.organisational-group/Virginia Tech/Engineering/COE T&R Facultyen

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