Développement d'un mécanisme parallèle entraîné par câbles utilisé comme interface à retour haptique visant la réadaptation physique en environnement immersif

Authors: Fortin-Côté, Alexis
Advisor: Cardou, PhilippeGosselin, Clément
Abstract: Cable driven parallel robots are studied and used more every day, especially in the research community. One interesting application is their use as haptic interfaces. Their big workspace and relatively low inertia makes them great candidates for human scale interfaces. One application of haptic interfaces of this scale is in health and physical readaptation. Since those interfaces are able to render forces, they can be used to train or evaluate physical capabilities. Research presented in this thesis aims at furthering knowledge in this domain. Some more general advances needed to make cable driven parallel mechanisms suitable haptic interfaces are presented first and then more specific developments toward the creation of a prototype haptic interface combined with a visual feedback are presented. The thesis ends with preliminary studies on the developed prototype installed in a research facility on physical readaptation.
Document Type: Thèse de doctorat
Issue Date: 2017
Open Access Date: 24 April 2018
Permalink: http://hdl.handle.net/20.500.11794/27980
Grantor: Université Laval
Collection:Thèses et mémoires

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