A New Force-Feedback, Morphologically Inspired Portable Exoskeleton

Author

Garrec, P. ; Martins, J.-P. ; Gravez, F. ; Méasson, Y. ; Perrot, Y.

Author_Institution

Atomic Energy Comm., Fontenay-aux-Roses

fYear

2006

Firstpage

674

Lastpage

679

Abstract

This paper presents a new portable exoskeleton design for superior limbs by the CEA-LIST laboratories. The first model described here (4 axis) is designed to apply forces in 3 directions. The first application is foreseen as an assistance device to enable a disabled person to carry an object such as a teapot or water bottle. It is designed as a base for more complete systems. A partial realization of it is presented for the first time. The high potential of the actuators used both in terms of back drivability and force capacity, allows hybrid force-position control laws making it possible to cover a broad range of applications: rehabilitation, assistance, force feedback master arm for telerobotics, sport training, and a virtual reality workbench

Keywords

actuators; force control; force feedback; handicapped aids; position control; telerobotics; virtual reality; back drivability; force capacity; force feedback master arm; force-position control; handicapped aids; portable exoskeleton; virtual reality workbench; Arm; Couplings; Exoskeletons; Force control; Force feedback; Humans; Hydraulic actuators; Pneumatic actuators; Telerobotics; Virtual reality;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot and Human Interactive Communication, 2006. ROMAN 2006. The 15th IEEE International Symposium on

Conference_Location

Hatfield

Print_ISBN

1-4244-0564-5

Electronic_ISBN

1-4244-0565-3

Type

conf

DOI

10.1109/ROMAN.2006.314478

Filename

4107886