A new force-feedback arm exoskeleton for haptic interaction in Virtual Environments

被引：0

作者：

Frisoli, A ^{[1
]}

Rocchi, F ^{[1
]}

Marcheschi, S ^{[1
]}

Dettori, A ^{[1
]}

Salsedo, F ^{[1
]}

Bergamasco, M ^{[1
]}

机构：

[1] Scuola Super Sant Anna, PERCRO, Pisa, Italy

来源：

WORLD HAPTICS CONFERENCE: FIRST JOINT EUROHAPTICS CONFERENCE AND SYMPOSIUM ON HAPTIC INTERFACES FOR VIRUTUAL ENVIRONMENT AND TELEOPERATOR SYSTEMS, PROCEEDINGS | 2005年

关键词：

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 paper presents the mechanical design of the L-EXOS, a new exoskeleton for the human arm. The exoskeleton is a tendon driven wearable haptic interface with 5 dof, 4 actuated ones, and is characterized by a workspace very close to the one of the human arm. The design has been optimized to obtain a solution with reduced mass and high stiffness, by employing special mechanical components and carbon fiber structural parts. The devised exoskeleton is very effective for simulating the touch by hand of large objects or the manipulation within the whole workspace of the arm. The main features of the first prototype that has been developed at PERCRO are presented, together with an indication of the achieved and tested performance.

引用

页码：195 / 201

页数：7

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