Designing an Exoskeleton Robotic Arm

881 WordsFeb 1, 20184 Pages
It was believed that the decisive factor for designing a robotic arm is its inexpensiveness and friendly interfacing with the user. Teleoperated master-slave anthropomorphic robotic arm with the single axis revolute joints having six degree of freedom was designed [13]. The master used the human machine interface (HMI) to operate in RTOS. The master incorporated the motion capture devices, such as vision sensors to transform the motion into analog voltages so as to actuate the exoskeleton robotic arm. The human machine interface comprised of GUI (Graphical User Interface) system, an Exoskeleton Robotic Arm and a Mode selector which enabled the operator to choose among the three modes of operation (manual, autonomous and semi-autonomous). We humans are companionable with the amorphous environment which is the principal benefit of advancement of Exoskeleton robots in the field of teleoperation. The 6-DOF exoskeleton enables the robot to elevate and shift items anywhere in space. A 6-DOF exoskeleton is very analogous to homo-sapiens in regards to no. and joints position. The limitation of this model was inadequate precision because of the non-linearity and mechanical coupling of the joints. [13] Nakai implemented a human interface technique using force feedback mechanism attached to the operator’s hand and named it Sensor Arm System [5]. The arm served the basis of the Master-Slave manipulator system in Teleoperation. The arm with which he experimented had 7-DOF same as that

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