Exoskeleton with Soft Actuation and Haptic Interface
This work presents an active orthotic device with a wearable structure corresponding to the natural motions of the human that can be used for motion capturing and mobility assisting. The exoskeleton structure includes left and right upper limb, left and right lower limb fabricated with light materials and powered by pneumatic artificial muscles. The proposed exoskeleton provides more than fifteen degrees of freedom and can operate in three modes: Motion tracking and data exchange with virtual reality (VR); Haptic device with force-feedback that can display sensory information from a virtual reality to the user; Assistive and rehabilitation device in cases of impaired muscles.
The design and development has been carried out in Institute of Mechanics, Bulgarian Academy of Sciences, Sofia, Bulgaria.
This research was supported by the European Commission through FP7 Integrated Project VERE [grant number 257695]; Bulgarian Science Found [grant number DN 07/9].
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