Development of an Exoskeleton Haptic Interface for Virtual Task Training

被引：76

作者：

Carignan, Craig ^{[1
]}

Tang, Jonathan ^{[1
]}

Roderick, Stephen ^{[2
]}

机构：

[1] Georgetown Univ, Imaging Sci & Informat Syst Ctr, Washington, DC 20057 USA

[2] Univ Maryland, Space Syst Lab, College Pk, MD 20740 USA

来源：

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年

关键词：

D O I：

10.1109/IROS.2009.5354834

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

An exoskeleton haptic interface is developed for functional training in virtual environments. A composite control scheme enables a variety of tasks to be implemented, and a "Qt" graphics library is used to generate the virtual environment for the haptic interface at the hand and graphical user interfaces for input and telemetry. Inter-process communications convert telemetry from the exoskeleton into motion commands for objects in the virtual environment. A second haptic interface at the upper arm is used to control the elbow orbit self-motion of the arm during tasks. Preliminary results are reviewed for a wall-painting task in which the virtual wall stiffness and viscosity are generated using an admittance controller.

引用

页码：3697 / 3702

页数：6

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