Abstract
Exoskeletons are used in teleoperation in order to control slave systems replacing the human operator, who would encounter various dangers in outer space, by sending driving commands from the human operator through the exoskeleton system and receiving force feedback. Precise handling, positioning and mounting are possible if teleoperation is assisted both visually and haptic. The present paper describes a lightweight 5DoF haptic exoskeleton, based on a structure which allows rotations of the wrist, elbow and shoulder. As the wrist and the elbow were presented in previous works, the paper emphasizes the construction and functioning of the shoulder.
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Acknowledgment
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., Lovasz, EC., Gruescu, C.M., Ciupe, V., Tatar, S. (2018). 5 DoF Haptic Exoskeleton for Space Telerobotics – Shoulder Module. In: Dede, M., İtik, M., Lovasz, EC., Kiper, G. (eds) Mechanisms, Transmissions and Applications. IFToMM 2017. Mechanisms and Machine Science, vol 52. Springer, Cham. https://doi.org/10.1007/978-3-319-60702-3_12
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DOI: https://doi.org/10.1007/978-3-319-60702-3_12
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