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Design and control of a haptic arm exoskeleton
Robot-assisted physical therapy has been shown to aid in the rehabilitation process following neurological injuries. As a therapeutic or training tool, the robot provides a means to implement and evaluate assistance cues ...
Disturbance observer based closed loop control of haptic interfaces
Traditionally, control of haptic interfaces is achieved using open-loop impedance or admittance control. During open-loop control, the quality of haptic feedback is limited by the dynamics of the haptic device. Further ...