Improved Haptic Linear Lines for Better Movement Accuracy in Upper Limb Rehabilitation

Listing 1

Listing example of a linear path with some haptic effects.

(1) <Toggle Group DEF="Linear Pad" haptics On="false" graphics On="false">

(2) <Shape>

(3) <Appearance>

(4)  <Material emissive Color="0 0 0"/>

(5)  <Line Properties linewidth Scale Factor="5"/>

(6) </Appearance>

(7) <Linear Path vertex Count="11" DEF="myPath">

(8)  <Coordinate point="−0.1466667 0.02666667 0,

(9)   −0.1053333 0.078 0,

(10)   −0.005333333 0.07933334 0.0,

(11)   0.018 0.04666667 0.0,

(12)   −0.01066667 0.01866667 0,

(13)   −0.06933333 0.04333333 0,

(14)   −0.07333333 0.1213333 0,

(15)   0.05466667 0.1266667 0,

(16)   0.1166667 0.05333333 0,

(17)   0.1146667 −0.012 0,

(18)   0.072 −0.036 0"/>

(19) </LineraPath>

(20) </Shape>

(21) <Linear Path Forces DEF="myForces" interpolation="splines"

(22)   spring Constant="40"

(23)   aid Constant="1.3"

(24)   viscosity Constant="5"

(25)   static Friction="0.8"

(26)   dynamic Friction="0.5">

(27)  <Linear Path USE="myPath"/>

(28) </Linear Path Forces>

(29) </Toggle Group>