A reconfigurable, tendon-based haptic interface for research into human-environment interactions

von Zitzewitz, Joachim; Morger, André; Rauter, Georg; Marchal Crespo, Laura; Crivelli, Francesco; Wyss, Dario; Bruckmann, Tobias; Riener, Robert (2013). A reconfigurable, tendon-based haptic interface for research into human-environment interactions. Robotica, 31(03), pp. 441-453. Cambridge University Press 10.1017/S026357471200046X

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Human reaction to external stimuli can be investigated in a comprehensive way by using a versatile virtual-reality setup involving multiple display technologies. It is apparent that versatility remains a main challenge when human reactions are examined through the use of haptic interfaces as the interfaces must be able to cope with the entire range of diverse movements and forces/torques a human subject produces. To address the versatility challenge, we have developed a large-scale reconfigurable tendon-based haptic interface which can be adapted to a large variety of task dynamics and is integrated into a Cave Automatic Virtual Environment (CAVE). To prove the versatility of the haptic interface, two tasks, incorporating once the force and once the velocity extrema of a human subject's extremities, were implemented: a simulator with 3-DOF highly dynamic force feedback and a 3-DOF setup optimized to perform dynamic movements. In addition, a 6-DOF platform capable of lifting a human subject off the ground was realized. For these three applications, a position controller was implemented, adapted to each task, and tested. In the controller tests with highly different, task-specific trajectories, the three robot configurations fulfilled the demands on the application-specific accuracy which illustrates and confirms the versatility of the developed haptic interface.

Item Type:

Journal Article (Original Article)

Division/Institute:

10 Strategic Research Centers > ARTORG Center for Biomedical Engineering Research > ARTORG Center - Motor Learning and Neurorehabilitation
10 Strategic Research Centers > ARTORG Center for Biomedical Engineering Research > ARTORG Center - Gerontechnology and Rehabilitation

UniBE Contributor:

Marchal Crespo, Laura

Subjects:

600 Technology > 610 Medicine & health
600 Technology > 620 Engineering

ISSN:

0263-5747

Publisher:

Cambridge University Press

Language:

English

Submitter:

Angela Amira Botros

Date Deposited:

19 Jun 2018 11:41

Last Modified:

23 Oct 2019 04:12

Publisher DOI:

10.1017/S026357471200046X

BORIS DOI:

10.7892/boris.117036

URI:

https://boris.unibe.ch/id/eprint/117036

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