Dual Stewart platform mobility simulator

Author

Boian, R.F. ; Bouzit, M. ; Burdea, G.C. ; Lewis, J. ; Deutsch, J.E.

Author_Institution

CAIP Center, Rutgers Univ., Piscataway, NJ, USA

fYear

2005

fDate

28 June-1 July 2005

Firstpage

550

Lastpage

555

Abstract

The paper presents the simulation and modeling of gait on a system using two prototype compact Stewart platforms. Control issues raised by the reduced size of the robots and hence their lower power output are discussed. The flexible haptic material concept is introduced and used to realistically model heterogeneous haptic surfaces simulating the virtual ground. An algorithm for virtual foot/virtual surface contact modeling and transforming the platform motion into walking in VEs is also presented.

Keywords

control engineering computing; gait analysis; handicapped aids; haptic interfaces; medical robotics; mobile robots; virtual reality; Rutgers Mega Ankle robots; dual Stewart platform mobility simulator; flexible haptic material concept; gait modeling; gait simulation; model heterogeneous haptic surfaces; power output; virtual environment; virtual foot/virtual surface contact modeling; virtual ground; Feedback; Foot; Haptic interfaces; Legged locomotion; Medical control systems; Medical simulation; Power system modeling; Shape; Virtual environment; Virtual prototyping;

fLanguage

English

Publisher

ieee

Conference_Titel

Rehabilitation Robotics, 2005. ICORR 2005. 9th International Conference on

Print_ISBN

0-7803-9003-2

Type

conf

DOI

10.1109/ICORR.2005.1502023

Filename

1502023