Design of a haptic arm exoskeleton for training and rehabilitation

TitleDesign of a haptic arm exoskeleton for training and rehabilitation
Publication TypeConference Proceedings
Year of Conference2004
AuthorsGupta, A, O'Malley, MK
Conference NameAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
Pagination1011 - 1018
Conference LocationAnaheim, CA, United States
KeywordsActuators; Bandwidth; Damping; Degrees of freedom (mechanics); Friction; Human computer interaction; Kinematics; Robotic arms; Robots; Sensors; Stiffness

A high-quality haptic interface is typically characterized by low apparent inertia and damping, high structural stiffness, minimal backlash and absence of mechanical singularities in the workspace. In addition to these specifications, exoskeleton haptic interface design involves consideration of additional parameters and constraints including space and weight limitations, workspace requirements and the kinematic constraints placed on the device by the human arm. In this context, we present the design of a five degree-of-freedom haptic arm exoskeleton for training and rehabilitation in virtual environments. The design of the device, including actuator and sensor selection, is discussed. Limitations of the device that result from the above selections are also presented. The device is capable of providing kinesthetic feedback to the joints of the lower arm and wrist of the operator, and will be used in future work for robot-assisted rehabilitation and training. Copyright © 2004 by ASME.