Mancisidor, A.Zubizarreta, A.Cabanes, I.Bengoa, P.Jung, J. H.Hofbaur, MichaelHusty, Manfred2024-07-242024-07-242018Mancisidor , A , Zubizarreta , A , Cabanes , I , Bengoa , P & Jung , J H 2018 , Kinematic and dynamic modeling of a multifunctional rehabilitation robot UHP . in M Hofbaur & M Husty (eds) , New Trends in Medical and Service Robots - Design, Analysis and Control . Mechanisms and Machine Science , vol. 48 , Springer Netherlands , pp. 117-130 , 5th International Workshop on Medical and Service Robots, MeSRob 2016 , Graz , Austria , 4/07/16 . https://doi.org/10.1007/978-3-319-59972-4_9conference97833195997172211-0984https://hdl.handle.net/11556/1522Publisher Copyright: © Springer International Publishing AG 2018.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%.14enginfo:eu-repo/semantics/restrictedAccessconference output10.1007/978-3-319-59972-4_9Dynamic modelingExperimental validationKinematic modelingRehabilitation robotsMechanics of MaterialsMechanical Engineeringhttp://www.scopus.com/inward/record.url?scp=85028080125&partnerID=8YFLogxK