A general framework for a rehabilitative oriented haptic interface

Omar A. Daud, Francesco Biral, Roberto Oboe, Lamberto Piron

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A general framework for virtual rehabilitation was developed. All the features of the framework, such as the control loop and the external communication, as well as the haptic and graphic rendering, were implemented inside Matlab/Simulink using Handshake proSENSE toolbox, guaranteeing a real-time performance. As an example of the application of the proposed general framework, a five-bar linkage haptic device with two active degrees-of-freedom was designed and integrated within the proposed framework. It was developed in order to cover the reachable workspace of a human finger, to have low inertia and high manipulability. It can generate forces up to 20 [N], which is suitable for finger and hand exercise. The system was evaluated and tested successfully. A case study and their results are presented. These results are indicative on the feasibility of the proposed application.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages685-690
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: Mar 21 2010Mar 24 2010

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CountryJapan
CityNagaoka, Niigata
Period3/21/103/24/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

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