A bio-inspired haptic interface for tele-robotics applications

Michele Folgheraiter, Bertold Bongardt, Jan Albiez, Frank Kirchner

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

This paper presents the design concept for a bioinspired exoskeleton intended for applications in tele-robotics and virtual reality. We based the development on an attentive analysis of the human arm anatomy with the intent to synthesize a system that will be able to interface with the human limb in a natural way. Our main goal is to develop a multi contact-point haptic interface that does not restrict the arm mobility and therefore increases the operational workspace. We propose a simplified kinematic model of the human arm using a notation coming from the robotics field. To figure out the best kinematic architecture we employed real movement data, measured from a human subject, and integrated them with the kinematic model of the exoskeleton. This allows us to test the system before its construction and to formalize specific requirements. We also implemented and tested a first passive version of the shoulder joint.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
PublisherIEEE Computer Society
Pages560-565
Number of pages6
ISBN (Print)9781424426799
DOIs
Publication statusPublished - Jan 1 2009
Event2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 - Bangkok, Thailand
Duration: Feb 21 2009Feb 26 2009

Publication series

Name2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008

Other

Other2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
CountryThailand
CityBangkok
Period2/21/092/26/09

Keywords

  • Bio-inspired device
  • Biorobotics
  • Exoskeleton
  • Haptic interface
  • Teleoperation

ASJC Scopus subject areas

  • Biotechnology
  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

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  • Cite this

    Folgheraiter, M., Bongardt, B., Albiez, J., & Kirchner, F. (2009). A bio-inspired haptic interface for tele-robotics applications. In 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 (pp. 560-565). [4913063] (2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008). IEEE Computer Society. https://doi.org/10.1109/ROBIO.2009.4913063