Abstract
This paper presents the methodology followed on the design of a multi-contact point haptic interface that uses a bio-inspired control approach and a novel actuation system. The combination of these components aims at creating a system that increases the operability of the target, and, at the same time, enables an intuitive and safe tele-operation of any complex robotic system of any given morphology. The novelty lies on the combination of a thoughtful kinematic structure driven by an active-compliant actuation system and a bio-inspired paradigm for its regulation. Due to the proposed actuation approach, the final system will achieve the condition of wearable system. On that final solution, each joint will be able to change its stiffness depending on the task to be executed, and on the anatomical features of each individual. Moreover, the system provides a variety of safety mechanisms at different levels to prevent causing any harm to the operator. In future, the system should allow the complete virtual immersion of the user within the working scenario.
Highlights
In recent years, a growing interest has been observed on the use of artificial exoskeletons, especially on medical applications and where hazardous industrial environments are found
To translate the forces occurring in the virtual world or the teleoperation environment onto the carrier of the exoskeleton, they must monitor the movements of the carrier and every joint must be fitted with actuators, which can exercise force, yet at the same time be light and compact to be able to perform force feedback on the carrier
This paper presented the design methodology followed on the development of a multi-contact point haptic interface, as well as a novel concept for a bio-inspired actuation system
Summary
A growing interest has been observed on the use of artificial exoskeletons, especially on medical applications and where hazardous industrial environments are found. When the device is not operating it presents a high stiffness that may be a problem for the safety of the user For this reason, a series of actuation techniques has been tested for exoskeletons. In such comparatively heavy systems, the motor controller has to compensate for gravity so that the system appears lighter to the operator. Another alternative to achieve light designs is to place the actuators on the base and drive the joints using cables, as in (Schiele and Veneman et al 2006).
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