Motion Analysis and Tactile-Based Impedance Control of the Chest Holder of a Piggyback Patient Transfer Robot

Figure 6

The force (pressure) acting on subjects’ chest in the experiment. (a) Subject 1. (b) Subject 2. (c) Subject 3. (d) Subject 4. (e) Subject 5. (f) Subject 6.

(a)

(b)

(c)

(d)

(e)

(f)