An arm exoskeleton system for teleoperation and virtual environments applications

Bergamasco, Massimo; Allotta, Benedetto; Bosio, L.; Ferretti, Luca; Parrini, G.; Prisco, Giuseppe Maria; Salsedo, F.; Sartini, G.

doi:10.1109/robot.1994.351286

Cited by 162 publications

(88 citation statements)

References 7 publications

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“…In this category we find the Sarcos exoskeleton master, Kazerooni's extenders [15], the dextrous master of Burdea et al [3], and the exoskeleton system of Bergamasco et al [2].…”

Section: Very High Dof Devicesmentioning

confidence: 83%

“…On the other hand, recording and replaying kinesthetic and tactile sensations does not make sense, except possibly for the display of textures and certain material properties. 2 A large proportion of modifications made to one's environment involves the use of the hand. This is particularly true of the interaction with machines and the majority of haptic devices so far available.…”

Section: The Haptic Channel Vsmentioning

confidence: 99%

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Performance Measures for Haptic Interfaces

1996

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A haptic interface is distinct from other display devices because it is bi-directional; it is capable of both reading and writing input to and from a human user. Due to both the direct human interaction and bi-directionality there has been much ambiguity in describing and evaluating these devices, making evaluation and comparison difficult. The goal of this paper is to set out requirements and guidelines for the performance measures of haptic devices and to hopefully lead towards resolving the current equivocal situation. In particular, performance measures are introduced which have so far not been pertinent in traditional robotics; these include, peak force, peak acceleration and frequency dependent measurements. Performance measures often quoted in traditional robotics are also discussed, however, the focus and relevance of these measures are different in haptic devices. Each of the suggested performance measures in this paper is discussed with respect to its importance, its measurabilty and the condition under which it should be measured.

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“…In this category we find the Sarcos exoskeleton master, Kazerooni's extenders [15], the dextrous master of Burdea et al [3], and the exoskeleton system of Bergamasco et al [2].…”

Section: Very High Dof Devicesmentioning

confidence: 83%

Section: The Haptic Channel Vsmentioning

confidence: 99%

Performance Measures for Haptic Interfaces

1996

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“…The first modern exoskeleton arm was designed by PERCRO (Perceptual Robotics Laboratory) for replication of sensations of contacts and collisions [2]. This is a seven degree of freedom (7-DoF) ungrounded device, attached to operator's shoulder and torso.…”

Section: Introductionmentioning

confidence: 99%

“…Recently, the use of exoskeletons as Haptic device significantly increased due to the development of applications related to interaction in virtual environments [2,3,4]. Haptic or force-reflecting interfaces are devices used to display touch or force-related sensory information from a virtual or remote environment to the user [2].…”

Section: Introductionmentioning

confidence: 99%

“…Haptic or force-reflecting interfaces are devices used to display touch or force-related sensory information from a virtual or remote environment to the user [2]. Haptic interfaces allow to perceive and transmit motion and forces to real or virtual entities stimulating the somatosensory system, and indeed the participation of the user in the immersive virtual reality [9].…”

Section: Introductionmentioning

confidence: 99%

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Simulations and experimental evaluation of an active orthosis for interaction in virtual environments

et al. 2018

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Abstract. In this work, the development of a human arm active orthosis is presented. The orthosis is designed primarily for training and rehabilitation in virtual environments.The orthosis system is intended for embodiment in virtual reality where it is allowing human to perceive forces at different body parts or the weight of lifted objects. In the paper the choice of a mechanical structure is shown equivalent to the structure of the human arm. A mechanical model of the orthosis arm as haptic device is built, where kinematic and dynamic parameters are evaluated. Impedance control scheme is selected as the most suitable for force refection at the hand or arm. An open-loop impedance controller is presented in the paper. Computer experiments are carried out using the dimensions of a real arm orthosis. Computer experiments have been carried out to provide force reflection by VR, according to virtual scenario. The conducted simulations show the range of the forces on the operator hand, orthosis can provide. The results of additional measurements and experimental evaluations of physical quantities in the interaction in a virtual environment are revealed in the paper.

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