We developed a wearable exoskeleton haptic interface to fit the human body. We generated a force constituting a contrasting moment by pulling a wire using a dc motor. We also developed a control system, which included a motor controller, an interface, and a control software. We evaluated the performance of our interface by conducting a simple task experiment. To execute one task, the control data for each joint jaw must be prepared, and we used force control data generated by a rectified and filtered electromyogram (EMG) curve. From the force representation experiments, it was determined that a force curve based on the EMG data could be used for a haptic interface, and we confirmed that a suitable force curve could be obtained for each subject.
Development of a Wearable Exoskeleton Haptic Interface Device
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Sone, J., Inoue, R., Yamada, K., Nagae, T., Fujita, K., and Sato, M. (November 26, 2008). "Development of a Wearable Exoskeleton Haptic Interface Device." ASME. J. Comput. Inf. Sci. Eng. December 2008; 8(4): 041009. https://doi.org/10.1115/1.3009670
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