Kinematics Modeling and Experimental Validation of a CyberForce Haptic Device Based on Passive Control System

This paper shows the experimental validation of the forward and inverse kinematic model (position and velocity), of the CyberForce haptic device (CHD). For trajectory tracking is used a passive control technique in operational coordinates (cartesian workspace) and its experimental results in the joint-space. The contribution in passive haptic guidance, is on virtual maze navigation with purposes of diagnosis and rehabilitation of upper limb, and training only as a proof platform without any patients, to this end, for the motion planning is used a time base generator for tracking in finite time.