Development of an Exoskeleton Haptic Interface for Virtual Task Training

被引：76
|
作者：
Carignan, Craig [1 ]
Tang, Jonathan [1 ]
Roderick, Stephen [2 ]
机构：
[1] Georgetown Univ, Imaging Sci & Informat Syst Ctr, Washington, DC 20057 USA
[2] Univ Maryland, Space Syst Lab, College Pk, MD 20740 USA
来源：
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年
关键词：
D O I：
10.1109/IROS.2009.5354834
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
An exoskeleton haptic interface is developed for functional training in virtual environments. A composite control scheme enables a variety of tasks to be implemented, and a "Qt" graphics library is used to generate the virtual environment for the haptic interface at the hand and graphical user interfaces for input and telemetry. Inter-process communications convert telemetry from the exoskeleton into motion commands for objects in the virtual environment. A second haptic interface at the upper arm is used to control the elbow orbit self-motion of the arm during tasks. Preliminary results are reviewed for a wall-painting task in which the virtual wall stiffness and viscosity are generated using an admittance controller.
引用
收藏
页码：3697 / 3702
页数：6
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