A New Force-Feedback, Morphologically Inspired Portable Exoskeleton
| Autor: | F. Gravez, Yann Perrot, P. Garrec, J.P. Martins, Yvan Measson |
|---|---|
| Přispěvatelé: | Laboratoire d'Intégration des Systèmes et des Technologies (LIST), Direction de Recherche Technologique (CEA) (DRT (CEA)), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA), IEEE, Laboratoire d'Intégration des Systèmes et des Technologies (LIST (CEA)) |
| Rok vydání: | 2006 |
| Předmět: |
0209 industrial biotechnology
Telerobotics Rehabilitation Computer science medicine.medical_treatment 02 engineering and technology Virtual reality Object (computer science) [SPI.AUTO]Engineering Sciences [physics]/Automatic Exoskeleton [SPI]Engineering Sciences [physics] 03 medical and health sciences 020901 industrial engineering & automation 0302 clinical medicine 030220 oncology & carcinogenesis medicine Actuator Realization (systems) Simulation Haptic technology |
| Zdroj: | RO-MAN Robot and Human Interactive Communication Robot and Human Interactive Communication, IEEE, Sep 2006, Hatfield, United Kingdom. pp.674-679, ⟨10.1109/ROMAN.2006.314478⟩ |
| ISSN: | 4244-0564 |
| Popis: | ISBN : 1-4244-0564-5; International audience; 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 |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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