We present an exoskeletal haptic device called SKK Hand Master. The device is semi-directly driven by linkages with ultrasonic motors, which has characteristic features close to cybernetic actuators. In the control of the device, we propose a method of measuring the joint positions and joint torques of the finger and a control method called PWM/PS is presented to overcome the intrinsic disadvantages of ultrasonic motors such as hysteresis. Construction of the device is addressed and several results of experiments for performance evaluation are included

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Parallel robots find many applications in human-systems interaction, medical robots, rehabilitation, exoskeletons, to name a few. These applications are characterized by many imperatives, with robust precision and dynamic workspace computation as the two ultimate ones. This paper presents a multi-objective optimum design procedure to 3 degrees of freedom (DOF) parallel robots with regards to four optimality criteria: workspace boundary, transmission quality index, stiffness. A kinematic optimization was performed to maximize the workspace of the parallel robot. In order to perform an optimal design of 3 DOF parallel robots, an objective function was developed first, and then Genetic Algorithms applied in order to optimize the objective function. The experimental results demonstrate the advantages of the presented optimization procedure in design of 3 DOF parallel robots, specifically TRIGLIDE and DELTA robots. These advantages are reflected in a presented framework for robust, precise, and dynamically calculated workspace boundaries. Therefore, the performances of the 3 DOF translation parallel robots provide high potential and good prospects for their practical implementation in human-systems interaction.

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The design of a wearable upper extremity therapy robot RUPERT IVtrade (Robotic Upper Extremity Repetitive Trainer) device is presented. It is designed to assist in repetitive therapy tasks related to activities of daily living which has been advocated for being more effective for functional recovery. RUPERTtrade has five actuated degrees of freedom driven by compliant and safe pneumatic muscle actuators (PMA) assisting shoulder elevation, humeral external rotation, elbow extension, forearm supination and wrist/hand extension. The device is designed to extend the arm and move in a 3D space with no gravity compensation, which is a natural setting for practicing day-to-day activities. Because the device is wearable and lightweight, the device is very portable; it can be worn standing or sitting for performing therapy tasks that better mimic activities of daily living. A closed-loop controller combining a PID-based feedback controller and a iterative learning controller (ILC)-based feedforward controller is proposed for RUPERT for passive repetitive task training. This type of control aids in overcoming the highly nonlinear nature of the plant under control, and also helps in adapting easily to different subjects for performing different tasks. The system was tested on two able-bodied subjects to evaluate its performance.

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In order to eliminate the drawbacks of conventional force feedback gloves, a new type of master hand has been developed. By utilizing three ¿four-bar mechanism joint¿ in series and wire coupling mechanism, the master finger transmission ratio is kept exact 1:1.4:1 in the whole movement range and it can make active motions in both extension and flexion direction. Additionally, to assure faster data transmission and near zero delay in master-slave operation, a digital signal processing/field programmable gate array (DSP/FPGA-FPGA) structure with 200 ¿s cycle time is designed. The operating modes of the master hand can be contact or non-contact, which depends on the motion states of slave hand, free motion or constrained motion. The position control employed in non-contact mode ensures unconstrained motion and the force control adopted in contact mode guarantees natural contact sensation. To evaluate the performances of the master hand, an master-slave control experiment based on force-position control method between the master hand and DLR/HIT hand is conducted. The results demonstrate this new type master hand can augment telepresence.

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In this paper, hardware implementation of control and interface between two robots for teleoperation tasks are designed and implemented on two field programmable gate array(FPGA) chips. The first FPGA chip is designed for collecting data from the master robot which is the motion capturing device that captures motions of a human operator who wears it. The second FPGA chip is used for controlling motions of the slave robot which is the humanoid robot arms as a counter part of the master robot. Captured motions from the master robot are transferred to the slave robot to follow the movement after the master robot. All hardware design such as PED controllers, communication modules between two robots, encoder counters, and PWM generators are implemented on an FPGA chip. Experimental studies of motion following tasks are conducted to demonstrate the FPGA controller design.

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