Actuation Design Methodology for Haptic Interfaces and Rehabilitation Systems

摘要

This paper introduces a methodology and a softwareframework intended to optimize and speed up the design processof a haptic interface or a rehabilitation system. Starting froman initial mechanical design the procedure allows to export thekinematic and dynamic properties of the robotic system in asimulation environment. The software receives as additional inputthe Cartesian or joints trajectories and generates as output therequired torques at the joints. From the recorded measurementsthe program extracts the torque ranges necessary to choose asuitable actuation system for the robot. The possibility to runthe simulation in batch modality allows also to define differentoptimization techniques that may be used to reduce the overallsystem weight or increase its payload