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

Table 1

Basic specifications of robot.

Item		Value
(A) Dimensions (mm)	(a) Width	755
	(b) Depth	1160
	(c) Maximum height	1964
(B) Weight (kg)		162
(C) Degree of freedom	(a) Chest holder	3
	(b) Cart	4
	(c) Saddle	1
	(d) Paddle	1
	(e) Antioverturning device	1
(D) Maximum load (kg)		90