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In this study, we propose a novel grip-type haptic display for controlling a virtual (or robotic) hand (Fig. 1). This grip-type haptic display enables us to control a virtual hand and perceive haptic information based on a reactive force and a spatially distributed tactile feedback. Because this proposed display does not need any actuators to produce the reactive force, a simple haptic display is...
The demand for rehabilitation robots is increasing for the upcoming aging society. Power-assisting devices are considered promising for enhancing the mobility of elderly and disabled people. Other potential applications are for muscle rehabilitation and sports training. The main focus of this paper is to control the load of selected muscles by using a power-assisting device, thus enabling ldquopinpointedrdquo...
In this paper, we describe a method for controlling wearable walking support system which is referred to as wearable walking helper. In this method, the support moment for the userpsilas knee joint is calculated with an approximated human model and a part of it is supported by the prismatic actuator of Wearable Walking Helper. In the conventional control algorithm, we only considered to support the...
This paper deals with an analytical approach based on the inverse dynamic model to maintain the stability of the ROBIAN robot in the presence of external disturbances. The stabilization is carried out with a trunk having 4 degrees of freedom: three translations and one rotation. For a vertical posture of the robot, the trunk bodies of ROBIAN are used to compensate the external three-dimensional efforts...
This paper describes the design and the performance results of a dexterous manipulator for minimally invasive surgery (MIS) that performs like a human arm. The design of the loadcell to measure the force of its tool-tip and its method are also presented for including a force-feedback loop in the future. Because a human whole arm has 7 degrees of freedom (DoF), we have also designed 7 DoF manipulator...
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