A 7 DOF pneumatic muscle actuator (pMA) powered exoskeleton

The development of haptic systems for VR and telepresence has been identified as a key feature in the progression from observation of the environment to interaction. Arm masters and exoskeletons have formed an important user interface for the provision of such facilities, with these devices requiring a subtle combination of complex mechanical, electrical and kinematic structures with user requirements of low mass, portability, comfort, flexibility and safety. The actuation system is often identified as a focus of this design blending process. This work considers the design, construction and testing of a light weight comfortable high power 7 degree of freedom force feedback exoskeleton. This is achieved through the use, modeling and control of pneumatic muscle actuators (pMA) that provide lightweight, low cost, flexible, portable, comfortable and inherently safe input/feedback/control operation. Models of operation in a virtual environment are developed and demonstrated, with experimental results to illustrate the effectiveness of the device in replicating contact forces and creating a sensation of virtual presence.