TY - Generic T1 - Design of a haptic arm exoskeleton for training and rehabilitation T2 - American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC Y1 - 2004 A1 - Abhishek Gupta A1 - O'Malley, M.K. KW - Actuators KW - Bandwidth KW - Damping KW - Degrees of freedom (mechanics) KW - Friction KW - Human computer interaction KW - Kinematics KW - Robotic arms KW - Robots KW - Sensors KW - Stiffness AB -

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.

JF - American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC CY - Anaheim, CA, United States VL - 73 N1 -

Haptic arm exoskeleton;Inertia;Structural stiffness;Kinesthetic feedback;

ER -