Experimental Identification and Analysis of the Dynamics of a PHANToM Premium 1.5A Haptic Device

Training Model-based Master-slave Rehabilitation Training Strategy using the Phantom Premium and an Exoskeleton Device

Despite the benefits of the robotic technologies on rehabilitation, human involvement is still critical. On the aspect of patients, they also need the supervision of the therapist as well as their active guidance and their expertise. In this paper, a novel master-slave rehabilitation system with force feedback and a meaningful training model for recovering the elbow joint function is presented....

Position and force tracking in nonlinear teleoperation systems under varying delays

In this paper, a novel control scheme is proposed to guarantee position and force tracking in nonlinear teleoperation systems subject to varying communication delays. Stability and tracking performance of the teleoperation system are proved using a proposed Lyapunov-Krasovskii functional. To show its effectiveness, the teleoperation controller is simulated on a pair of planar 2-DOF robots and e...

Simulation of the Admittance Control Based Haptic Interface Device

Identification of Sphere Size Using the PHANToM: Towards a Set of Building Blocks for Rendering Haptic Environment

This paper presents an approach to developing building blocks for rendering synthetic haptic environments using force-reflective haptic interfaces. The task of sphere size identification is used to explore an accurate and efficient way of estimating human performance using the absolute identification paradigm. The results show that subjects can reliably identify 3 to 4 sphere sizes with a set o...

Quantitative Performance Analysis of Haptic Devices with Parallelogram Subsystems

Parallel-architecture haptic devices offer significant advantages over serial-architecture counterparts in applications requiring high stiffness and high accuracy. To this end, many haptic devices have been created and deployed by modularly piecing together several serial-chain arms to form an in-parallel system. Furthermore, recent haptic devices design such as the Sensable’s PHANToM Premium l...