Here we have a very simple tation patient supported by a robot. Often, when you have a controlled electromechanical system like a robot and a human working together, you want to separate them by a compliant mechanism (spring with stiffness k) so that the robot has some "give". Otherwise, if there are errors in the control of the robot it can be very uncomfortable for a patient. The spring has zero force when x = xp = 0. The patient provides viscous damping with damping coefficient c. 7 Patient mp Xp Robot Arm Xr Figure 2: Schematic diagram of a very simplified model of a patient pushing against a robot. The robot supports the patient via a spring for safety. In this case we want to eventually determine the force that the patient is exerting on the robot as a function of time, so we'll do some steps towards that goal. Your tasks: A Draw the free body diagram for the patient mass (mass mp). B Write the equations of motion for the system with ap and r, as your dynamic variables C How would you calculate the force exerted by the robot on the patient? Does the sign of the force matter? Explain in a sentence or two D Write the equation for this force, and denote it Frp

Here we have a very simple tation patient supported by a robot. Often, when you have a controlled electromechanical system like a robot and a human working together, you want to separate them by a compliant mechanism (spring with stiffness k) so that the robot has some "give". Otherwise, if there are errors in the control of the robot it can be very uncomfortable for a patient. The spring has zero force when x = xp = 0. The patient provides viscous damping with damping coefficient c. 7 Patient mp Xp Robot Arm Xr Figure 2: Schematic diagram of a very simplified model of a patient pushing against a robot. The robot supports the patient via a spring for safety. In this case we want to eventually determine the force that the patient is exerting on the robot as a function of time, so we'll do some steps towards that goal. Your tasks: A Draw the free body diagram for the patient mass (mass mp). B Write the equations of motion for the system with ap and r, as your dynamic variables C How would you calculate the force exerted by the robot on the patient? Does the sign of the force matter? Explain in a sentence or two D Write the equation for this force, and denote it Frp

Elements Of Electromagnetics

7th Edition

ISBN:9780190698614

Author:Sadiku, Matthew N. O.

Publisher:Sadiku, Matthew N. O.

ChapterMA: Math Assessment

Section: Chapter Questions

Problem 1.1MA

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Concept explainers

Properties of Fluids

The term fluid represents a type of substance that can easily change its shape under any external pressure/force and can flow. Fluids can acquire any shape in which it is stored and can resist normal stresses but cannot resist shear stress in rest condition. Whenever external shear stress is applied to fluids, it starts to flow. The fluids may be liquid or gas. Example- water, air, etc.

Question

Here we have a very simple one dimensional model of a stroke rehabili-
tation patient supported by a robot. Often, when you have a controlled electromechanical system like a robot and
a human working together, you want to separate them by a compliant mechanism (spring with stiffness k) so that
the robot has some "give". Otherwise, if there are errors in the control of the robot it can be very uncomfortable
for a patient. The spring has zero force when x, = xp = 0. The patient provides viscous damping with damping
Xp
coefficient c.
Fp
+
C
Patient
mp
k
Xp
Robot Arm
Xr
Figure 2: Schematic diagram of a very simplified model of a patient pushing against a robot. The robot supports
the patient via a spring for safety.
In this case we want to eventually determine the force that the patient is exerting on the robot as a function of
time, so we'll do some steps towards that goal. Your tasks:
A Draw the free body diagram for the patient mass (mass mp).
B Write the equations of motion for the system with xp and xr, as your dynamic variables
C How would you calculate the force exerted by the robot on the patient? Does the sign of the force matter?
Explain in a sentence or two
D Write the equation for this force, and denote it Frp

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