Figure 9
From: Design of a series visco-elastic actuator for multi-purpose rehabilitation haptic device
Simulation evaluation. Simulation of VSP performance in the ARM mode with a damper added parallel to the spring (b = 200 Ns/m) in LOW and HIGH impedance environments and for two values of simulated backlash (1 mm and 4 mm). Haptic performance was investigated by simulating sinusoidal movements (1.0 Hz, 0.5 Hz and 0.1 Hz respectively) of the handle bar XO, where the desired force (FV), was compared to the actual force (FO) on the handle bar.