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Document type:
journal article 
Author(s):
Martínez, Horacio; Obst, Tobias; Ulbrich, Heinz; Burgkart, Rainer 
Title:
A novel application of direct force control to perform in-vitro biomechanical tests using robotic technology. 
Abstract:
This paper presents a novel application of direct force control to test biological specimens using a serial manipulator with 6 degrees of freedom Direct force control compares actual force/moment values with desired values of load. The error is compensated by a proportional/integral controller (PI), a damping factor implemented with the velocity of the robot and acting in the direction of the force and a feedforward compensation. The controller works with a frequency of 0.5 kHz which enhances it...    »
 
Journal title abbreviation:
J Biomech 
Year:
2013 
Journal volume:
46 
Journal issue:
Pages contribution:
1379-82 
Language:
eng 
Print-ISSN:
0021-9290 
TUM Institution:
Orthopädische und Sportorthopädische Klinik und Poliklinik