This paper reports on the evaluation of various actuation technologies to be used in a portable exoskeleton for space applications. It is divided into four parts. The first part defines the scope of the project and gives a brief overview of the existing arm exoskeleton devices. The second part is devoted to the description of the three actuation technologies evaluated: DC motors and their combination with other mechanical systems in order to integrate them in a portable haptic device, a brake prototype developed at the ASL using magnetorheological fluid and finally ultrasonic motors. The third part is devoted to the experimental prototyping with the description of the 1 DOF setup built to compare the actuators, and the results obtained for each of them. Finally, the fourth part shows some comparisons between the technologies, related to relevant parameters for portable haptic interfaces.

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