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An exoskeleton haptic interface is developed for functional training in virtual environments. A composite control scheme enables a variety of tasks to be implemented, and a ??Qt?? graphics library is used to generate the virtual environment for the haptic interface at the hand and graphical user interfaces for input and telemetry. Inter-process communications convert telemetry from the exoskeleton...
Fixed-Base Exoskeleton applications have increased rapidly in the last few years, evidently as part of promising rehabilitation robotic programs of the robotics worldwide community, where in particular Human-Robot-Interaction (HRI) plays an important role in its design and control because they are tightly coupled to human-limbs. Exoskeletons embrace HRI as well as technological and theoretical challenges...
In this paper it is shown how variation of the kinematic structure of an exoskeleton and variation of its fixation strength on the human limb influences objective task performance metrics, such as interface load, tracking error and voluntary range of motion in a signal tracking experiment.
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