Control Performance Evaluation of Haptic Training Robot for Physical Therapists

Abstract

Reaction force from a patient is important during physical therapy. Therefore, haptic sensation of a physical therapist is one of the principal medical treatment skills. However, the training chance of haptic sensation is very limited in physical therapy education. We are developing a haptic training robot which can present reaction forces from a patient during physical therapy. In this paper, we report control performance evaluation results of the haptic training robot. We create two reference models of End-feel reaction force based on the knowledge of physical therapists. Also, we develop a simulation model of the haptic training robot using MATLAB Simulink. Simulation results indicates that the haptic training robot has enough performance for haptic training.