During the present monitoring period the research activities carried out within the HUROBIN experiment can be divided into the following phases:

1. Experimental tests of the MATLAB S-function including communication part (open, initialize and close IXXAT USB-CAN compact device communication) and low-level control of servo-motors (start motors, low- level position control of the joints, velocities setting, motors stopping, motors braking). New functionalities, such as output of current values and motors positions, were also added.
2. Final testing of the embedded MATLAB function “Damped Least Square for inverse kinematics” for tuning parameters, including analysis and solution of possible “worst cases”.
3. Data acquisition from Motion tracker and Dataglove.

The experimental setup is shown in Figure 1.

Figura 1. The experimental setup: a) Dataglove, b) Control desktop PC, c) Motion tracker,  d) Communication laptop PC, e) Robotic platform

Task 2 "Dataglove and tracker integration with robotic arm" and Task 3 "Design and development of control strategy for the robotic platform" represent ongoing activities aimed at achieving Milestone M2 “Dataglove and tracker integration with robotic arm”. Task 6 "Dissemination" is ongoing as well.