Development of a Planar Haptic Robot With Minimized Impedance.

Several studies have reported that stroke survivors displayed improved voluntary planar movements when forces supporting the upper limb increased, and when impeding forces decreased. Earlier haptic devices interacting with the human upper limb were potentially impacted by undesired residual friction force and device inertia. To explore natural, undisturbed voluntary motor control in stroke survivors, we describe the development of a Decoupled-Operational space Robot for wide Impedance Switching (DORIS) with minimized mechanical impedances.