Abstract
The present article shows the implementation of a bilateral control scheme as an option to be implemented on a hand orthosis. The reference signal is computed using a measurement of the position of the phalanx based on a flexible sensor, the measurements are used to estimate positions of a 3DoF robot based on a polynomial approximation. The estimated positions are used to compute the inverse kinematic to provide positions of the orthosis, this is verified using the Matlab Robotic Toolbox that verifies how the robot reaches the same position of the phalanx.
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This research was funded by Secretaría de Investigación y Posgrado IPN under Grant Numbers 20231585, 20232388, 20231157, 20230472.
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De Luna-García, Á.I., Cortez, R., Sandoval-Chileño, M., Lozada-Castillo, N., Luviano-Juárez, A. (2024). Experimental Test Bed for Hand Orthotic Actuators Characterization. In: Flores Cuautle, J.d.J.A., et al. XLVI Mexican Conference on Biomedical Engineering. CNIB 2023. IFMBE Proceedings, vol 97. Springer, Cham. https://doi.org/10.1007/978-3-031-46936-7_9
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DOI: https://doi.org/10.1007/978-3-031-46936-7_9
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