A New Force-Feedback, Morphologically Inspired Portable Exoskeleton

Abstract : 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
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https://hal-cea.archives-ouvertes.fr/cea-01178113
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Submitted on : Friday, July 17, 2015 - 2:27:14 PM
Last modification on : Wednesday, January 23, 2019 - 2:38:28 PM

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Philippe Garrec, J. P. Martins, F. Gravez, Y. Méasson, Yves Perrot. A New Force-Feedback, Morphologically Inspired Portable Exoskeleton. Robot and Human Interactive Communication,, IEEE, Sep 2006, Hatfield, United Kingdom. pp.674 - 679, ⟨10.1109/ROMAN.2006.314478⟩. ⟨cea-01178113⟩

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