Improved Active Handrest Performance Through the Use of Virtual Fixtures Academic Article uri icon


  • Abstract: The Active Handrest is a large workspace assistive robotic device that has been shown to significantly improve the user performance of various movement tasks. This device has the potential to assist highly accurate motions without the need for a robotically enabled or comanipulated tool while allowing the user to retain complete control over a grasped tool. This paper evaluates the Active Handrest's effect on the kinematics of user movements together with various virtual fixture control strategies to further improve the human …

publication date

  • January 1, 2014