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.
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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
Transcribed Image Text: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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