Interactive 7-DOF Motion Controller Of The Operator Arm (ExoArm 7-DOF)

被引：0
|
作者：
Pawel, Herbin [1 ]
Miroslaw, Pajor [1 ]
机构：
[1] West Pomeranian Univ Technol Szczecin, Fac Mech Engn & Mechatron, Szczecin, Poland
来源：
2017 IEEE INTERNATIONAL CONFERENCE ON INNOVATIONS IN INTELLIGENT SYSTEMS AND APPLICATIONS (INISTA) | 2017年
关键词：
wearable robot; robotics; mechatronics; human robot interface;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The article focuses on designed construction of the exoskeleton, which significantly reproduces the kinematic structure and the range of joint movement of the human upper limb. The exoskeleton will able to control real objects i.e. loading crane, including force feedback. The designed device, composed of seven rotary joints, is equipped with the closed loop Bowden cable conduit system with linear DC actuators. This conduit system was applied in order to significantly reduce the mass of designed construction. The article describes the proposed kinematic structure, as well as the simple dynamic analysis of the ExoArm 7-DOF. The results of the device manipulability analysis are also included in this paper.
引用
收藏
页码：185 / 188
页数：4
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