Frédéric Abry

Non linear position and closed loop stiffness control for a pneumatic actuated haptic interface: the BirthSIM

This paper presents the BirthSIM model, a haptic interface of a childbirth simulator. The aim of this haptic interface is to improve haptic rendering and increase the biofidelity of the movements and forces which occur during the fetal descent. Thus the model of this 2 degrees of freedom pneumatic a…