Development of a Wearable Exoskeleton Haptic Interface Device

被引：3

作者：

Sone, Junji ^{[1
]}

Inoue, Ryou ^{[1
]}

Yamada, Katsumi ^{[1
]}

Nagae, Takanori ^{[1
]}

Fujita, Kinya ^{[2
]}

Sato, Makoto ^{[3
]}

机构：

[1] Tokyo Polytech Univ, Fac Engn, Kanagawa 2430297, Japan

[2] Tokyo Univ Agr & Technol, Grad Sch, Koganei, Tokyo 1848588, Japan

[3] Tokyo Inst Technol, Precis & Intelligence Lab, Midori Ku, Kanagawa 2268503, Japan

来源：

JOURNAL OF COMPUTING AND INFORMATION SCIENCE IN ENGINEERING | 2008年 / 8卷 / 04期

关键词：

haptic display; wearable; exoskeleton; force curve; EMG;

D O I：

10.1115/1.3009670

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

We developed a wearable exoskeleton haptic interface to fit the human body. We generated a force constituting a contrasting moment by pulling a wire using a dc motor. We also developed a control system, which included a motor controller, an interface, and a control software. We evaluated the performance of our interface by conducting a simple task experiment. To execute one task, the control data for each joint jaw must be prepared, and we used force control data generated by a rectified and filtered electromyogram (EMG) curve. From the force representation experiments, it was determined that a force curve based on the EMG data could be used for a haptic interface, and we confirmed that a suitable force curve could be obtained for each subject.

引用

页码：0410091 / 04100912

页数：12

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