3 accepted papers
Our team developed a riding ballbot (called PURE) that is dynamically stable, omnidirectional, and driven by lean-to-steer control. A hands-free admittance control scheme (HACS) was previously integrated to allow riders with different torso functions to control the robot's movements via torso leanin
This paper presents the design and control of a ballbot drivetrain that aims to achieve high agility, minimal footprint, and high payload capacity while maintaining dynamic stability. Two hardware platforms and analytical models were developed to test design and control methodologies. The full-scale…
This paper describes the development of a 1-DOF kinesthetic force display device in the form of an arm training simulator that replicates the haptic feeling of lead-pipe rigidity in the elbow joint. Patients with lead-pipe rigidity have uniformly elevated muscle tone throughout the range of motion,…