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

<table class="table-group" id="tab4"><tr><td><table class="table"><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td class="align_left">Symbol</td><td class="align_center">Value</td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td class="align_left"><i>M</i><sub><i>d</i></sub></td><td class="align_center">0.001 kPa</td></tr><tr><td class="align_left"><i>B</i><sub><i>d</i></sub></td><td class="align_center">0.5 kPa/s</td></tr><tr><td class="align_left"><i>K</i><sub><i>d</i></sub></td><td class="align_center">4 kPa/s<sup>2</sup></td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>The impedance parameter in the experiment.</div>

Journal of Healthcare Engineering

tab4

Table 4

Table 4: Motion Analysis and Tactile-Based Impedance Control of the Chest Holder of a Piggyback Patient Transfer Robot 