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In general, indirect force control schemes (stiffness, impedance, etc.) assume that robot actuators can provide any torque value to achieve the goal of interaction control. This study attempts to regulate robot–environment interaction by generating bounded control signals and to avoid accurate knowledge of the parameters associated with gravitational effects and the stiffness of the environment. To...
In this paper, a robot-assisted therapy system is presented, mainly focused on the improvement of fine movements of patients with motor deficits of upper limbs. This system combines the use of a haptic device with an augmented reality environment, where a kind of occupational therapy exercises are implemented. The main goal of the system is to provide an extra motivation to patients, who are stimulated...
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