Design and Development of a Novel Robotic Platform for Neuro-Robotics Applications: the NEURobotics ARM (NEURARM)

摘要

This paper presents the NEURARM, a novel robotic platform specifically designed for performing joint experiments between neuroscience and robotics. The NEURARM replicates the main functions and characteristics of the human arm during the execution of planar movements for reaching and catching a moving object. The NEURARM is a 2-d.o.f. planar robotic platform actuated by means of four linear hydraulic actuators and four cables integrated in agonist–antagonist configuration. The first version of a non-linear spring that will be integrated in series with the actuator has been developed and tested. The main components of the sensory system are four tension sensors on the cables, two angle sensors in the joints, and linear potentiometers and pressure sensors on the pistons. The paper presents the design methodology, the developed components and system, and the experimental characterization of the NEURARM. The available data demonstrate qualitatively that the design is appropriate, that the NEURARM is able to replicate the required maximum kinematics performance and that real joint experiments with neuroscientists can start.