ISBN : 1-4244-0564-5International audienceThis paper presents a new portable exoskeleton design for superior limbs by the CEA-LIST laboratories. The first model described here (4 axis) is designed to apply forces in 3 directions. The first application is foreseen as an assistance device to enable a disabled person to carry an object such as a teapot or water bottle. It is designed as a base for more complete systems. A partial realization of it is presented for the first time. The high potential of the actuators used both in terms of back drivability and force capacity, allows hybrid force-position control laws making it possible to cover a broad range of applications: rehabilitation, assistance, force feedback master arm for telerobotics, sport training, and a virtual reality workbenc
The aim of this article is to achieve a parametric modeling of kinematics, geometrical and inertial properties of the various joints and links which constitute an anthropomorphic biped. The result is the automatic creation of virtual models of humanoid bipeds while respecting intrinsically the inertial and geometrical distribution of each link, according only to two parameters: the total mass and the total height of the system. Future developments are to use the analytical parameters of masses and inertia in analytical dynamic models in order to control humanoids having different masses and heights.
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