Robotic Arm with Built-in Haptic AR Mechanism for Force Sense Training underVarious Position

Abstract

Force sense is one of the important medical treatment skills for a physical therapist to understand the condition of a patient. However, long term training is necessary to improve the force sense of the physical therapist. In this paper, we present the robotic arm for the force sense training of the physical therapist. The robotic arm is drove by the haptic AR mechanism which is consisting of the servo motor and the mechanical spring. The mechanical design and the control system are described.