Abstract
For extravehicular activities in space, as mounting and dismounting devices and maintenance, a teleoperated robotic arm is frequently used to spare the human operator from the dangers in orbital space. For precision handling operations such as clamping, inserting and screwing bolts, etc., visual feedback is not sufficient. In this paper, a lightweight 3DoF haptic exoskeleton is developed to control a robotic arm in a natural way by copying operator movements and assisting the operator in feeling the loads in the robotic hand.
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Acknowledgments
The authors would like to express their gratitude towards the Romanian Space Agency (ROSA) for the support through the project New Haptic Arm Exoskeletons for Robotics and Automation in Space (EXORAS).
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Margineanu, D.T., Lovasz, EC., Ciupe, V., Mateaş, M., Zăbavă, .S. (2015). 3 DoF Haptic Exoskeleton for Space Telerobotic. In: Corves, B., Lovasz, EC., Hüsing, M. (eds) Mechanisms, Transmissions and Applications. Mechanisms and Machine Science, vol 31. Springer, Cham. https://doi.org/10.1007/978-3-319-17067-1_29
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DOI: https://doi.org/10.1007/978-3-319-17067-1_29
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