Development of an exoskeleton haptic interface for virtual task training

Authors:
Craig Carignan;Jonathan Tang;Stephen Roderick
Affiliations:
Imaging Science and Information Systems Center, Georgetown University, Washington, DC;Imaging Science and Information Systems Center, Georgetown University, Washington, DC;Space Systems Laboratory, University of Maryland, College Park, MD
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 3
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Abstract

An exoskeleton haptic interface is developed for functional training in virtual environments. A composite control scheme enables a variety of tasks to be implemented, and a "Qt" graphics library is used to generate the virtual environment for the haptic interface at the hand and graphical user interfaces for input and telemetry. Inter-process communications convert telemetry from the exoskeleton into motion commands for objects in the virtual environment. A second haptic interface at the upper arm is used to control the elbow orbit self-motion of the arm during tasks. Preliminary results are reviewed for a wall-painting task in which the virtual wall stiffness and viscosity are generated using an admittance controller.