This paper shows the experimental validation of the forward and inverse kinematic model (position and velocity), of the CyberForce haptic device (CHD). For trajectory tracking is used a passive control technique in operational coordinates (cartesian workspace) and its experimental results in the joint-space. The contribution in passive haptic guidance, is on virtual maze navigation with purposes of diagnosis and rehabilitation of upper limb, and training only as a proof platform without any patients, to this end, for the motion planning is used a time base generator for tracking in finite time.
Kinematics Modeling and Experimental Validation of a CyberForce Haptic Device Based on Passive Control System
01.11.2015
1490530 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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