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Conference papers
ABLE, a Versatile Transparent Upper-Limb Exoskeleton for Teleoperation
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.
Cited literature [14 references]
https://hal-cea.archives-ouvertes.fr/cea-01588418
Contributor : Céline Rodier <>
Submitted on : Friday, September 15, 2017 - 4:11:18 PM
Last modification on : Friday, June 25, 2021 - 9:48:04 AM
Long-term archiving on: : Saturday, December 16, 2017 - 2:10:10 PM
Contributor : Céline Rodier <>
Submitted on : Friday, September 15, 2017 - 4:11:18 PM
Last modification on : Friday, June 25, 2021 - 9:48:04 AM
Long-term archiving on: : Saturday, December 16, 2017 - 2:10:10 PM
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07_02_Garrec.pdf
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