Design and Control Solutions for Haptic Elbow Exoskeleton Module Used in Space Telerobotics

摘要：

　　The paper deals with design solutions for the elbow module of a haptic arm exoskeletons used for remote control of robots in space.The haptic elbow exoskeleton module should control the motion of the robot and have a haptic feedback from it.The design solutions for achieving the mechanical feedback can use controlled mechanism structures or direct actuators.Several proposed design solutions and a control strategy are shown in the paper.

关键词： arm exoskeleton haptic feedback elbow module geared linkage controlled brake controlled actuators

作者: Erwin-Christian Lovasz Dan Teodor M(a)rgineanu Valentin Ciupe Inocen(t)iu Maniu Corina Mihaela Gruescu Sergiu Dan Stan Eugen Sever Zǎbavǎ

作者单位: Department of Mechatronics,Politehnica University Timi(s)oara,Timi(s)oara 300222,Romania Department of Mechatronics and Machine Dynamics,Technical University Cluj-Napoca,Cluj-Napoca,400641,

会议类型: 国际会议

会议名称: The 3th IFToMM Asian Conference on Mechanism and Machine Science 2014 International Conference on Mechanism and Machine Science,2014(第三届IFTOMM亚洲机构与机器科学会议暨2014海峡两岸机构学学术会议)

会议地点: 天津

会议语种:英文

页码: 1-9

在线出版日期: 2014-07-06（万方平台首次上网日期，不代表论文的发表时间）