THE CAPIO ACTIVE UPPER BODY EXOSKELETON AND ITS APPLICATION FOR TELEOPERATION

THE CAPIO ACTIVE UPPER BODY EXOSKELETON AND ITS APPLICATION FOR TELEOPERATION
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CAPIO 主动上身外骨骼及其在遥操作中的应用

DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
E. Kirchner
E. Kirchner
中科院分区：
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文献类型：
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作者：
Martin Mallwitz;Niels Will;Johannes Teiwes;E. Kirchner

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本文介绍了主动双臂上半身外骨骼机器人及其在复杂仿人机器人遥操作中的应用，以及在虚拟环境中的应用。Capio外骨骼是一个人机界面，它跟踪操作员的移动并将其传输到目标系统。背部和手臂上的多个接触点使用户能够进行精确的运动测量，并允许特定的力反馈。运动学配置与由刚体动力学算法控制的20个活动系列弹性关节的组合提供了机械透明度。移动躯干的可能性增强了外骨骼的工作空间。Capio系统的设计轻便、轻便，穿衣程序简单。
In this paper the active dual-arm upper body exoskeleton Capio, its application for the teleoperation of a complex humanoid robot, as well as its use in a virtual environment are presented. The Capio exoskeleton is a humanmachine interface that tracks the operator’s movements and transfers them to a target system. Multiple contact points at back and arms to the user enable a precise motion measurement and allow a specific force feedback. The combination of the kinematic configuration with 20 active serial elastic joints controlled by a rigid body dynamics algorithm provides mechanical transparency. The possibility to move the torso enhances the exoskeleton workspace. The Capio system is designed portable and lightweight with an easy dressing procedure.