@inproceedings{c2602308490f48398e8bc7201eee7296,
title = "Kinematic and dynamic modeling of a multifunctional rehabilitation robot UHP",
abstract = "The design of a suitable controller that handles robot-human interaction is one of the critical tasks in rehabilitation robotics. For this purpose, an accurate model of the robot is required. The Universal Haptic Pantograph (UHP) is a novel upper limb rehabilitation robot that can be configured to perform arm or wrist exercises. This work is focused on the latter, solving the kinematic model by the use of the closure loop equations, while Lagrangian formulation is used to estimate the interaction force. In order to prove the effectiveness of the model, several experimental tests are carried out. Results demonstrate that the mean motion error is less than 1 mm, and the estimated force error less than 10%.",
keywords = "Dynamic modeling, Experimental validation, Kinematic modeling, Rehabilitation robots",
author = "A. Mancisidor and A. Zubizarreta and I. Cabanes and P. Bengoa and Jung, {J. H.}",
note = "Publisher Copyright: {\textcopyright} Springer International Publishing AG 2018.; 5th International Workshop on Medical and Service Robots, MeSRob 2016 ; Conference date: 04-07-2016 Through 06-07-2016",
year = "2018",
doi = "10.1007/978-3-319-59972-4_9",
language = "English",
isbn = "9783319599717",
series = "Mechanisms and Machine Science",
publisher = "Springer Netherlands",
pages = "117--130",
editor = "Michael Hofbaur and Manfred Husty",
booktitle = "New Trends in Medical and Service Robots - Design, Analysis and Control",
address = "Netherlands",
}