MOTORE++ a portable haptic device for domestic rehabilitation

This paper presents the MOTORE++ system, a Portable, mobile haptic interface with the unique feature of using its wheels to deploy rehabilitation exercises to users. MOTORE++ is a battery powered device, with hot swap batteries, capable to run autonomously for almost an hour. MOTORS++ is a technology shift enhancement improvement over the previous version. Its new electronic architecture allows several communication protocols (RS232, WiFi, Bluetooth) that provide link stability in all running scenarios. The device also implements a cutting edge computing architecture and a novel position sensor jointly developed with Anoto®to deliver precise sensor fusion and stability to the localization and force generation algorithms. In the present papers we will describe the relevant new features of the device, and we will review the major innovation with respect to the existing mobile haptic interfaces.