Using Libralis software to apply the autocalibrated gravity compensation to several commercial 3DoF haptic devices.
Related article:
A. Formaglio, M. Fei, S. Mulatto, M. de Pascale, and D. Prattichizzo. Eurohaptics 2008, volume LNCS 5024 of Lecture Notes in Computer Science, chapter Autocalibrated gravity compensation for 3 DoF impedance haptic devices. Springer Verlag, 2008.
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