MOTORE: A mobile haptic interface for neuro-rehabilitation

The present paper introduces a novel type of haptic interface which is fully portable and employs only onboard sensors and electronics to solve accurate localization and force feedback generation. The device offers 2DOF force control while sliding on a plane and maintaining its orientation comfortable for the user. The device generates force feedback information without any intermediate link between the motion wheels and the grasping handle. The device has been designed for application in neuro-rehabilitation protocols and it adopts specific mechanical, electrical and control solutions in order to cope with patient requirements. The paper describes the mechanical and electronic solutions as well as the most relevant features of control implementation issues that were addressed in the system design.