Applied Bionics and Biomechanics

Applied Bionics and Biomechanics / 2006 / Article

Open Access

Volume 3 |Article ID 830150 |

P. Goldsmith, S. Wynd, G. Kawchuk, "Robotic Measurement and Control for Chiropractic Research", Applied Bionics and Biomechanics, vol. 3, Article ID 830150, 6 pages, 2006.

Robotic Measurement and Control for Chiropractic Research


The precision and programmability of robotic manipulators makes them suitable for biomechanics research, particularly when an experimental procedure must be accurately repeated multiple times. This paper describes a robotic system used to investigate biomechanical mechanisms of stroke in humans. A parallel robot manipulator is used to reproduce chiropractic manipulations on animal subjects using a 3-D vision system. An algorithm for calibrating the system is proposed and tested on the robot. An iterative learning control scheme is then introduced to improve positional accuracy. Experimental results demonstrate that the calibration procedure and learning scheme are both effective.

Copyright © 2006 Hindawi Publishing Corporation. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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