Transparency is an important characteristic that has to be achieved in a haptic interface. In an exoskeletal device, this requirement translates into an active compensation scheme that renders a massless mechanism. Specifically, one has to balance gravitational, Coriolis, and inertia forces/torques of the mechanical structure. The success of such compensation methods strictly relies on an effective identification of the system parameters that appear in the dynamic equations of the interface. In this paper we apply a novel parameter identification method that achieves this task. We conduct a set of experiments to evaluate the transparency of the Pneumatic Haptic Interface (Φ) developed in the Systems Laboratory at Southern Methodist University.

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