A new generation of ergonomic exoskeletons - The high-performance X-Arm-2 for space robotics telepresence
A new generation of ergonomic exoskeletons - The high-performance X-Arm-2 for space robotics telepresence
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DOI：
10.1109/iros.2011.6094868
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发表时间：
2011-12
期刊：
影响因子：
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通讯作者：
A. Schiele;G. Hirzinger
中科院分区：
文献类型：
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作者：
A. Schiele;G. Hirzinger
本文介绍了一种新型触觉外骨骼——X-Arm-2的机电一体化设计和首次性能分析。X-Arm-2是一种完全驱动的力反射人体外骨骼，基于我们之前提出的人体工程学和以人为中心的外骨骼设计方法。X-Arm-2是一种高功率密度的阻抗型触觉设备，它(1)可以与不同操作员的自然手臂运动互动，而无需调整和产生约束力；(2)通过高执行器带宽、低残余摩擦和良好的关节扭矩传感器分辨率提供清晰的力反馈。(3)总质量仅为6.2 kg,(4)通过以人为本的鲍登电缆重新定位和直接集成的直流执行器混合实现，具有低惯性。
This paper introduces the mechatronic design and a first performance analysis of a new haptic exoskeleton, the X-Arm-2. The X-Arm-2 is a fully actuated force-reflecting human arm exoskeleton that is based on our previously proposed approach to ergonomic and human-centered exoskeleton design [1] [2]. The X-Arm-2 is a highly power-dense impedance-type haptic device that (1) can interact with natural human arm movement of varying operators without requiring adjustments and creating constraint forces, (2) provides crisp force-feedback through high actuator bandwidth, low residual friction and good joint torque sensor resolution, (3) has a low total mass of only 6.2 kg and (4) low inertia through a human-oriented mixed implementation of Bowden-cable relocated and directly-integrated DC actuators.