NOVEL 6-DOF WEARABLE EXOSKELETON ARM WITH PNEUMATIC FORCE-FEEDBACK FOR BILATERAL TELEOPERATION

被引：11
|
作者：
Zhang Jiafan [1 ]
Fu Hailun [2 ]
Dong Yiming [1 ]
Zhang Yu [1 ]
Yang Canjun [1 ]
Chen Ying [1 ]
机构：
[1] Zhejiang Univ, State Key Lab Fluid Power Transmiss & Control, Hangzhou 310027, Peoples R China
[2] Zhejiang Prov Inst Metrol, Hangzhou 310027, Peoples R China
来源：
CHINESE JOURNAL OF MECHANICAL ENGINEERING | 2008年 / 21卷 / 03期
基金：
中国国家自然科学基金;
关键词：
Exoskeleton arm; Teleoperation; Pneumatic force-feedback; Hybrid fuzzy control;
D O I：
10.3901/CJME.2008.03.058
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A particular emphasis is put on a novel wearable exoskeleton arm, ZJUESA, with 6 degrees of freedom, which is used for the robot teleoperation with the force-feedback in the unknown environment. In this external structure mechanism, the 3-revolution-prismatic-spherical (3RPS) parallel mechanism is devised from the concept of the human upper-limb anatomy and applied for the shoulder 3-DOF joint. Meanwhile, the orthogonal experiment design method is introduced for its optimal design. Aiming at enhancing the performance of teleoperation, the force feedback is employed by the pneumatic system on ZJUESA to produce the vivid feeling in addition to the soft control interface. Due to the compressibility and nonlinearity of the pneumatic force feedback system, a novel hybrid fuzzy controller for the precise force control is proposed and realized based on the Mega8 microcontroller units as the units of the distributed control system on ZJUESA. With the results of several experiments for master-slave control with force feedback, the feasibility of ZJUESA system and the effect of its hybrid fuzzy controller are verified.
引用
收藏
页码：58 / 65
页数：8
相关论文
共 46 条
  • [1] NOVEL 6-DOF WEARABLE EXOSKELETON ARM WITH PNEUMATIC FORCE-FEEDBACK FOR BILATERAL TELEOPERATION
    ZHANG Jiafan State Key Laboratory of Fluid Power Transmission and Control
    Chinese Journal of Mechanical Engineering, 2008, (03) : 58 - 65
  • [2] Exoskeleton arm with force feedback for robot bilateral teleoperation
    Zhang, Jiafan
    Yang, Canjun
    Chen, Ying
    PROGRESS IN NATURAL SCIENCE-MATERIALS INTERNATIONAL, 2007, 17 (08) : 948 - 955
  • [3] Exoskeleton arm with force feedback for robot bilateral teleoperation
    Zhang Jiafan~(**) Yang Canjun Chen Ying (The State Key Lab of Fluid Power Transmission and Control
    Progress in Natural Science:Materials International, 2007, (08) : 948 - 955
  • [4] Signal Prediction in Bilateral Teleoperation with Force-Feedback
    Sakow, Mateusz
    Marchelek, Krzysztof
    Parus, Arkadiusz
    Pajor, Miroslaw
    Miadlicki, Karol
    DYNAMICAL SYSTEMS IN APPLICATIONS, 2018, 249 : 311 - 323
  • [5] A framework for haptic rendering system using 6-DOF force-feedback device
    Kim, DH
    Ko, NY
    Oh, GK
    Kim, YD
    2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2001, : 874 - 879
  • [6] Design and hybrid control of the pneumatic force-feedback systems for Arm-Exoskeleton by using on/off valve
    Chen Ying
    Zhang Jia-fan
    Yang Can-jun
    Niu Bin
    MECHATRONICS, 2007, 17 (06) : 325 - 335
  • [7] Transparency performance improvement for bilateral teleoperation with direct force-feedback control
    Hua C.
    Yang Y.
    HAVE 2011 - IEEE International Symposium on Haptic Audio-Visual Environments and Games, Proceedings, 2011, : 62 - 67
  • [8] A new force-feedback arm exoskeleton for haptic interaction in Virtual Environments
    Frisoli, A
    Rocchi, F
    Marcheschi, S
    Dettori, A
    Salsedo, F
    Bergamasco, M
    WORLD HAPTICS CONFERENCE: FIRST JOINT EUROHAPTICS CONFERENCE AND SYMPOSIUM ON HAPTIC INTERFACES FOR VIRUTUAL ENVIRONMENT AND TELEOPERATOR SYSTEMS, PROCEEDINGS, 2005, : 195 - 201
  • [9] Nonlinear Inverse Modeling with Signal Prediction in Bilateral Teleoperation with Force-feedback
    Sakow, Mateusz
    Parus, Arkadiusz
    Pajor, Miroslaw
    Miadlicki, Karol
    2017 22ND INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS (MMAR), 2017, : 141 - 146
  • [10] Bilateral Robot Teleoperation A Wearable Arm Exoskeleton Featuring an Intuitive User Interface
    Rebelo, Joao
    Sednaoui, Thomas
    den Exter, Emiel Boudewijn
    Krueger, Thomas
    Schiele, Andre
    IEEE ROBOTICS & AUTOMATION MAGAZINE, 2014, 21 (04) : 62 - 69
12345