Interactive Compliance Control of a Wrist Rehabilitation Device (WReD) with Enhanced Training Safety

Figure 3

The Bode diagrams of the proposed compliance controller with two different configurations: (a) M = 0.15, B = 0.2, and K = 0.8; (b) M = 0.15, B = 0.2, and K = 1.6.

(a)

(b)