3 accepted papers
In this paper we propose an approach to trajectory planning based on the purpose of the task. For a redundant manipulator, many end effector poses in the task space can be achieved with multiple joint configurations. In planning the motion, we are free to choose the configuration that is optimal for
To fulfill the need for reliable and consistent medical training of the neurological examination technique to assess ankle clonus, a series elastic actuator (SEA) based haptic training simulator was proposed and developed. The simulator's mechanism (a hybrid of belt and linkage drive) and controller
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,…