Exoskeletons as Man-Machine Interface Systems for Teleoperation and Interaction in Virtual Environments
Exoskeletons as Man-Machine Interface Systems for Teleoperation and Interaction in Virtual Environments
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外骨骼作为人机界面系统，用于虚拟环境中的远程操作和交互
DOI：
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发表时间：
2007
期刊：
影响因子：
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通讯作者：
C. Avizzano
中科院分区：
文献类型：
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作者：
M. Bergamasco;A. Frisoli;C. Avizzano
自遥操作开始以来，外骨骼系统一直被认为是主级的人机接口。外骨骼是机器人系统，可以由人类操作员穿上，具有类似于操作员上肢或下肢的运动学结构。它们具有双重功能：a）记录人肢体水平的运动，B）在与人肢体的附接点处产生力。外骨骼的第一个例子可以追溯到专门设计用于向操作员复制抓握和接触力的手臂和手的系统。如今，外骨骼系统也被成功地用作用于人类力量增强和康复的身体延伸器。本章从机械和控制设计的角度描述了不同类型的外骨骼系统，并介绍了当前技术水平的不同应用示例。
Since the beginning of teleoperation, exoskeleton systems have been considered as man-machine interfaces at the master level. Exoskeletons are robotics systems, that can be put on by the human operator, with a kinematic structure similar to that of operator’s upper or lower limbs. They have a twofold functionality: a) to record the movement at the level of human limb, b) to generate forces at the points of attachment with the human limb. The first examples of exoskeletons can be traced back to systems for the arm and the hand specifically designed for replicating grasping and contact forces to the operator. Nowadays exoskeleton systems are successfully employed also as body extenders for human power augmentation and rehabilitation. This chapter describes different types of exoskeleton systems from the point of view of mechanical and control design, and presents different examples of applications from the current state of the art.