In this paper, a new type of master finger in exoskeleton type has been developed to implement master-slave operation for DLR/HIT dexterous hand. The finger has three novel characteristics. Firstly, the exoskeleton mechanism uses ldquofour-bar mechanism jointrdquo, which rotates about an instant center that coincides with joint center of operator’s finger. Secondly, the master finger can distinguish the contact and non-contact mode. The two modes enable free motion and natural contact sensation between operator and master finger respectively. Thirdly, the master finger can exert forces in the direction of extension and flexion because it can make active motion in the two directions. In order 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 is proposed to control the master finger. The kernel of the hardware system consists of a peripheral component interface (PCI)-based DSP/FPGA board configured as high-level and a FPGA board configured as low-level. By utilizing low-voltage differential signaling (LVDS) serial data bus and PCI bus, the high-level can communicate with the low-level and PC. Using the principle of Virtual work, the relationship between driving torque and the force acting at the tip of master finger is acquired and validated by an experiment conducted to the operation of master finger and DLR/HIT dexterous finger. Experimental results also demonstrate that the master finger can augment telepresence.

Категория: Ищем научные статьи | 1 Комментарий »

A control methodology is developed for modulating shoulder impedance in an arm exoskeleton during physical therapy. Setting the remote center of compliance at the shoulder will allow the exoskeleton to enact resistance training protocols that strengthen the rotator cuff and other joint musculature supporting the shoulder complex. The rotational kinematics for the shoulder are first derived, and then the torques applied at the shoulder are estimated using force sensors placed at the hand and elbow interfaces. Impedance and admittance control schemes are both developed for realizing isolateral strengthening exercises, and some preliminary experimental results are presented for implementation on an arm exoskeleton currently under development.

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This paper presents the development of SAM, the Sensoric Arm Master, a 7-DOF portable exoskeleton with integrated actuation and sensors. Local joint control is implemented to improve performances of the device. Some experiments have been conducted with the system to show the functionality of the exoskeleton device linked to a virtual reality.

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The novel design of a three-degree of freedom (DOF) parallel robotic structured hip exoskeleton is introduced in this research. Anexoskeleton for walking typically is developed as an auxiliary mechanism which is used for the entire leg. This paper presents a biomimetic parallel manipulator which is only for the hip. An exhaustive mobility analysis and inverse kinematic solutions are derived in closed form, and the Jacobian matrix is derived analytically based on a primary prototype. These kinematic analyses verified the structure of the CAD design.

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The human lower extremity exoskeleton (HLEE) conceived and designed to provide human the ability to carry heavy loads on his back with minimal effort over type of rugged terrain, which integrated human-robotic system under the control of the human. Based on bionics, HLEE structure was analyzed and designed. Mathematical models of human typical gait were built. The Virtual prototype of the human and the Lower Extremity Exoskeleton were produced using Pro/e three-dimensional modeling software and ADAMS kinematic modeling package. Trajectory of human motion was programmed using the cubic spline interpolation. The accuracy and the assumptions feasibility of the model were proven by simulation.

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