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ABSTRACT: The control of exploratory and manipulative procedures in
teleoperation and virtual environments requires the availability of
adequate advanced interfaces capable not only of recording the movements
of the human hands and arms, but also of replicating sensations of
contact and collisions. In this paper the problem of replicating
external forces acting against the remote/virtual arm is addressed. The
design of an arm exoskeleton system developed in the authors' laboratory
is presented. The exoskeleton consists of a 7 DOF actuated and
sensorized mechanical structure wrapping up completely the human arm and
directly supported by the shoulders and the trunk of the human operator.
Emphasis is given to the implemented control procedures and to the
description of the transputer-based control architecture
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on; 06/1994
