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Hybrid Control for Haptic Foot Platform on a Cable-Driven Locomotion Interface

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Uploaded on Feb 18, 2009

This video is for the paper title:
Hybrid Control with Multi-Contact Interactions for 6DOF Haptic Foot Platform on a Cable-Driven Locomotion Interface,
Proceeding of the IEEE HAPTICS 2008


12 DOF Cable Driven Locomotion Interface for rehabilitation. www.martinotis.shorturl.com

This system shows one platform for one foot. The mechanism is linked with cable as a transmission line for the hybrid control in impedance or admittance. We can also control this mechanism in any haptic immitence matrices. The platform moves the foot and it is possible to interact with any virtual objects in the virtual environment. We are building the second platform. A video will be soon available. The robot walker KHR-1HV will be used to test the overall system.

Martin J.D. Otis, Ph.D. candidate
Université Laval, Québec. Canada

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