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Finger-force-control system for medical purposes

For a medical research project it has been required to design an ergometer which produces a defined force via a handle to the human finger. This force has to be dependent on the position of the handle. The drive of the handle is realized with a solenoid motor with a four-quadrant DC chopper. The force control is realized via current control of the chopper. The reference value is given from a microcontroller which also transmits the data (position and force of the handle-necessary for medical research) to a PC for further processing.