Control aspects of a robotic hap tic interface for kinesthetic knee joint simulation

摘要

A new 6 DOF (degrees of freedom) haptic device is presented for display of the dynamic properties of a virtual human knee in orthopaedic training. In order to achieve the high impedance requirements in this application an industrial robot has been selected and extended with a PC-based high performance controller hardware and redundant safety features. Two control architectures―a force-command and motion-command control―are presented and both implemented in a 1 DOF application. With a new method for evaluation and comparison of controller performance in terms of impedance error the experimental results reveal that motion-command provides better accuracy for display of the high impedances specific to the human knee application.