Exoskeleton arm with force feedback for robot bilateral teleoperation

被引：0
|
作者：
Zhang Jiafan~(**) Yang Canjun Chen Ying (The State Key Lab of Fluid Power Transmission and Control
机构：
来源：
Progress in Natural Science:Materials International | 2007年 / 08期
基金：
中国国家自然科学基金;
关键词：
exoskeleton arm; robot teleoperation; force feedback; hybrid fuzzy control;
D O I：
暂无
中图分类号：
TP242 [机器人];
学科分类号：
1111 ;
摘要：
A novel 6 degrees of freedom (DOFs) wearable exoskeleton arm,ZJUESA,based on man-machine system is present- ed.It can be used in robot bilateral teleoperation as master arm with force-feedback.With introducing the revolute-prismatic-spherical (RPS) parallel mechanism and planetary gear mechanism,it is designed based on the anatomy of human upper-limb.With the sensors on this external mechanical structure,the human operator motion is detected and converted to the slave robot control command.Additionally the pneumatic system on it generates a force feedback by using hybrid fuzzy control.As a result,the human operator may have a feeling of doing the work directly.
引用
收藏
页码：948 / 955
页数：8
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