Title :
SAM : A 7-DOF portable arm exoskeleton with local joint control
Author :
Letier, P. ; Avraam, M. ; Veillerette, S. ; Horodinca, M. ; De Bartolomei, M. ; Schiele, A. ; Preumont, A.
Author_Institution :
Active Struct. Lab., Univ. Libre de Bruxelles, Brussels
Abstract :
This paper presents the development of SAM, the Sensoric Arm Master, a 7-DOF portable exoskeleton with integrated actuation and sensors. Local joint control is implemented to improve performances of the device. Some experiments have been conducted with the system to show the functionality of the exoskeleton device linked to a virtual reality.
Keywords :
artificial limbs; control engineering computing; manipulator kinematics; virtual reality; 7-DOF portable arm exoskeleton; SAM; Sensoric Arm Master; exoskeleton device; integrated actuation; integrated sensors; local joint control; virtual reality; Force; Friction; Haptic interfaces; Joints; Solid modeling; Torque; Torque measurement;
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
DOI :
10.1109/IROS.2008.4650889
