Abstract
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.
Highlights
The biomechanical mechanisms of stroke are not well understood. It is not known if chiropractic manipulation can cause or exacerbate arterial lesions that result in stroke
This application is similar to that described in Goldsmith (1998) where a robotic system was proposed for testing sport shoes
We have described a robotic system for investigating the biomechanical mechanisms of stroke
Summary
The biomechanical mechanisms of stroke are not well understood It is not known if chiropractic manipulation can cause or exacerbate arterial lesions that result in stroke. A robot simulates neck manipulations performed by a chiropractor, allowing repeatable experiments on the biomechanical mechanisms of stroke. To accurately reproduce these motions, an effective calibration procedure is needed. Retrospective studies have implicated cSMT as a cause of vertebral artery dissection (Haldeman et al 2002). These studies do not establish a cause and effect relationship between chiropractic manipulation and stroke. A second hypothesis is that congenital malformations or pre-existing lesions make the vertebral artery
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