Research Article

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

Table 2

The simulation models and subjects parameters.

ModelHeight (mm)Weight (kg)SubjectGenderHeight (mm)Weight (kg)

M 1170075S1Male170076.5
S2Male170076

M 2175075S3Male175075.5
S4Male176076

M 3180075S5Male179081
S6Male181073