DocumentCode
3093213
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
fYear
2008
fDate
22-26 Sept. 2008
Firstpage
3501
Lastpage
3506
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location
Nice
Print_ISBN
978-1-4244-2057-5
Type
conf
DOI
10.1109/IROS.2008.4650889
Filename
4650889
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