Title :
The range of wrenches that can be statically exerted by a force replication device
Author :
Allota, B. ; Bergamasco, M.
Author_Institution :
ARTS Lab., Scuola Superiore S. Anna, Pisa, Italy
Abstract :
The paper deals with the preliminary treatment of the problem of the determination of the relationship between the kinematics and the effective set of wrenches that a mechanical device can exert on the limbs of a human operator. The definition of force replicating devices (FRDs) is given together with a first classification related to their topological features. The analysis of force replication is initially carried out by considering the kinetostatic analysis for a generic mechanical device: the set of replicable wrenches is calculated on the basis of its kinematics properties. Examples are gives by considering two different types of FRD. The aim of the research is the determination of the kinematics features of an ideal FRD capable of replicating the desired set of wrenches to the specific human body part
Keywords :
man-machine systems; manipulator kinematics; telerobotics; force replication device; human operator; kinematics; kinetostatic analysis; limbs; topological features; wrenches; Control systems; Electrical stimulation; Exoskeletons; Force control; Force feedback; Humans; Kinematics; Mechanical factors; Subspace constraints; Terminology;
Conference_Titel :
Robot and Human Communication, 1994. RO-MAN '94 Nagoya, Proceedings., 3rd IEEE International Workshop on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-2002-6
DOI :
10.1109/ROMAN.1994.365923
