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We present and evaluate an arm-motion guidance system that uses magnetic tracking sensors and low cost vibrotactile actuators. The system measures the movement of the user's arm and provides vibration feedback at the wrist and elbow when they stray from the desired motion. An initial study was conducted to investigate whether adding tactile feedback to visual feedback reduces motion errors when a...
In this study, the sliding mode approach is applied to the tracking control problem of a planar arm manipulator system driven by a new type of actuator, which comprises a pneumatic muscle (PM) and a torsion spring. Unlike the traditional agonist/antagonist pneumatic muscle actuator, the PM is arranged in place of bicep and the torsion spring provides opposing torque in the presented actuator. The...
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