一种新的力反馈、形态启发的便携式外骨骼

ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2006-09-01 DOI:10.1109/ROMAN.2006.314478

P. Garrec, J. Martins, Fabnce Gravez, Y. Measson, Y. Perrot

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引用次数: 12

摘要

本文介绍了由CEA-LIST实验室设计的一种新型上肢便携式外骨骼。这里描述的第一个模型(4轴)设计用于在3个方向上施加力。第一种应用被设想为一种辅助装置，使残疾人能够携带诸如茶壶或水瓶之类的物体。它被设计为更完整系统的基础。本文首次给出了该系统的部分实现。在向后驾驶和力容量方面使用的执行器具有很高的潜力，允许混合力-位置控制律，从而可以覆盖广泛的应用:康复，辅助，远程机器人的力反馈主臂，运动训练和虚拟现实工作台

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A New Force-Feedback, Morphologically Inspired Portable Exoskeleton

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

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

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