Abstract
The design of a suitable controller that handles robot-human interaction is one of the critical tasks in rehabilitation robotics. For this purpose, an accurate model of the robot is required. The Universal Haptic Pantograph (UHP) is a novel upper limb rehabilitation robot that can be configured to perform arm or wrist exercises. This work is focused on the latter, solving the kinematic model by the use of the closure loop equations, while Lagrangian formulation is used to estimate the interaction force. In order to prove the effectiveness of the model, several experimental tests are carried out. Results demonstrate that the mean motion error is less than 1 mm, and the estimated force error less than \(10\%\).
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Acknowledgements
This work was supported in part by the Basque Country Governments (GV/EJ) under grant PRE-2014-1-152, UPV/EHU’s UFI11/28 project, Spanish Ministry of Economy and Competitiveness’ MINECO & FEDER inside the DPI-2012-32882 project, Spanish Ministry of Economy and Competitiveness’ BES-2013-066142 grant, Euskampus, FIK and Spanish Ministry of Science and Innovation PDI-020100-2009-21 project.
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Mancisidor, A., Zubizarreta, A., Cabanes, I., Bengoa, P., Jung, J.H. (2018). Kinematic and Dynamic Modeling of a Multifunctional Rehabilitation Robot UHP. In: Husty, M., Hofbaur, M. (eds) New Trends in Medical and Service Robots. MESROB 2016. Mechanisms and Machine Science, vol 48. Springer, Cham. https://doi.org/10.1007/978-3-319-59972-4_9
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