Libralis – Autocalibrated Gravity Compensation of 3DoF Impedance Haptic Devices

Libralis is a software package which provides C++ developers with a user-friendly tool to actively compensate the apparent gravity force acting on the haptic device end-effector.

The actual effects of gravity force are measured in the specific custom setup chosen by the user through an off-line recursive estimation procedure .  Then the acquired data are used on-line to cancel the effects of the end-effector apparent gravity.

For further details, technical information and downloads, please visit the web page: http://libralis.dii.unisi.it/

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