Parallel Link Drive Air-Magnet Floating Manipulandum ("PFM")

We developed a high performance manipulandum system "Parallel Link Drive Air-Magnet Floating Manipulandum" ("PFM") to measure human arm impedance under several conditions. It is rigid, light-weight, strong enough to measure the human arm impedance. It is controlled by DSP with 2000 Hz, and it's impedance actively changed by the impedance control method. The lower figure shows top view of the PFM. During experiment, the subject's arm is tightly fixed on the supporting beam connected to the handle.

Experimental SetUp for 3D position measurements

EMG measurements

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