BioMotionBot - A new 3D robotic manipulandum with end-point force control

Abstract

In this paper we present the design of a new 3D robotic manipulandum that will be used in human motor-control research and additionally enables physiotherapists to design tailor-made robotic therapies. Moreover, it offers the opportunity to develop completely new types of movement-specific coordination and condition training programs in sports. The presented manipulandum has a special designed 3D kinematics that allows movements in 3D space while maintaining its orientation. The paper contains an overview of the mechanical design, the electronic components, the user interface, the design of the control system as well as a first performance test. © 2011 Springer-Verlag.