Curves and surfaces for CAGD: a practical guide
Curves and surfaces for CAGD: a practical guide
A New Force-Feedback Arm Exoskeleton for Haptic Interaction in Virtual Environments
WHC '05 Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Optimal robot arm control using the minimum variance model
Journal of Robotic Systems
Springer Handbook of Robotics
Control system design of a 3-DOF upper limbs rehabilitation robot
Computer Methods and Programs in Biomedicine
Virtual rehabilitation environment using principles of intrinsic motivation and game design
Presence: Teleoperators and Virtual Environments
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This paper presents a new method of trajectory planning in rehabilitation robotics. First were measured in healthy subject the pick to place trajectories while haptic robot is in zero impedance space. B-spline approximation is used to mathematically define the measured paths. This trajectory path serves as a central line for the rounding haptic tunnel. In addition to radial elastic and damping force an optional guidance force can be applied along the tunnel to reach the place point. The B-spline control points were observed around the robot and arm workspace. The trajectory path defined with B-splines is compared with minimum jerk and minimum torque defined trajectories. Finally are compared the pick to place movements with and without tunnel use in healthy subject and in stroke hemiplegic patient.