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Control aspects of a robotic haptic display for kinesthetic knee joint simulation

Author(s):

J. Hoogen, R. Riener, G. Schmidt
Conference/Journal:

Control Engineering Practice, no. 10, pp. 1301-1308
Abstract:

A new 6 DOF (degrees of freedom) haptic device is presented for display of the dynamic properties of a virtual human knee in orthopaedic training. In order to achieve the high impedance requirements in this application an industrial robot has been selected and extended with a PC-based high performance controller hardware and redundant safety features. Two control architectures—a force-command and motion-command control—are presented and both implemented in a 1 DOF application. With a new method for evaluation and comparison of controller performance in terms of impedance error the experimental results reveal that motion-command provides better accuracy for display of the high impedances specific to the human knee application.

Year:

2002
Type of Publication:

(01)Article
Supervisor:



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% Autogenerated BibTeX entry
@Article { HooRie:2002:IFA_2273,
    author={J. Hoogen and R. Riener and G. Schmidt},
    title={{Control aspects of a robotic haptic display for kinesthetic
	  knee joint simulation}},
    journal={Control Engineering Practice},
    year={2002},
    volume={},
    number={10},
    pages={1301--1308},
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=2273}
}
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