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A novel 6 degrees of freedom (DOFs) wearable exoskeleton arm,ZJUESA,based on man-machine system is present- ed.It can be used in robot bilateral teleoperation as master arm with force-feedback.With introducing the revolute-prismatic-spherical (RPS) parallel mechanism and planetary gear mechanism,it is designed based on the anatomy of human upper-limb.With the sensors on this external mechanical structure,the human operator motion is detected and converted to the slave robot control command.Additionally the pneumatic system on it generates a force feedback by using hybrid fuzzy control.As a result,the human operator may have a feeling of doing the work directly.
A novel 6 degrees of freedom (DOFs) wearable exoskeleton arm, ZJUESA, based on man-machine system is present- ed. It can be used in robot bilateral teleoperation as master arm with force-feedback. Whilst introducing the revolute-prismatic-spherical (RPS) parallel mechanism and planetary gear mechanism, it is designed based on the anatomy of human upper-limb. Whith the sensors on this external mechanical structure, the human operator motion is detected and converted to the slave robot control command .Additionally the pneumatic system on it generates a force feedback by using hybrid fuzzy control. As a result, the human operator may have a feeling of doing the work directly.