Learn More
analytical model that allows predicting and interpreting the characteristics of constraint forces generated by misaligned joint axes between human operators and wearable robots during physical human-robot interaction (pHRI). The pHRI model is based on geometric parameters that describe the combined human-robot system. It is applied in this paper to measured(More)
grasping task difficulty, 3) grasp quality, and 4) difficulty level for the operator to assess the grasp quality. Several test subjects were allocated to remotely grasp regular and irregular shaped objects, under different combinations of visual-and force-feedback conditions. This work categorized the benefits of visual-and force-feedback in teleoperated(More)
— For the purpose of ergonomic human-machine interaction and geometrical design of hand held haptic devices, a kinematic model that represents the functional anatomy of different human hands is desired. It is the goal of this paper to present a kinematic hand model that is based on human physiology and that is easily adaptable to represent various real(More)