Within this project, we focus on the implementation and usage of DOBs on the ARMin exoskeleton robot for enforcing virtual dynamics. ARMin is a 7 degree-of-freedom (DoF) robotic device for upper limb rehabilitation designed at ETH Zurich (Nef et al. 2009). The robot incorporates position and force/torque sensors to measure the interaction between human and robot.
The validity of the idea of enforcing virtual dynamics and its technical performance evaluation will be performed with the project.
Keywords: Robotics, haptics, motion control, disturbance observers
Nef, Tobias; Guidali, Marco; Riener, Robert (2009). ARMin III – arm therapy exoskeleton with an ergonomic shoulder actuation. Applied Bionics and Biomechanics, 6(2), pp. 127-142. I O S Press10.1080/11762320902840179