%0 Generic
%A Mancisidor, A.
%A Zubizarreta, A.
%A Cabanes, I.
%A Bengoa, P.
%A Jung, J. H.
%T Kinematic and dynamic modeling of a multifunctional rehabilitation robot UHP
%J Mechanisms and Machine Science
%D 2018
%@ 2211-0984
%U https://hdl.handle.net/11556/1522
%X The design of a suitable controller that handles robot-human interaction is one of the critical tasks in rehabilitation robotics. For this purpose, an accurate model of the robot is required. The Universal Haptic Pantograph (UHP) is a novel upper limb rehabilitation robot that can be configured to perform arm or wrist exercises. This work is focused on the latter, solving the kinematic model by the use of the closure loop equations, while Lagrangian formulation is used to estimate the interaction force. In order to prove the effectiveness of the model, several experimental tests are carried out. Results demonstrate that the mean motion error is less than 1 mm, and the estimated force error less than 10%.
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