HCI Beyond the GUI: Design for Haptic, Speech, Olfactory, and Other Nontraditional Interfaces
HCI Beyond the GUI: Design for Haptic, Speech, Olfactory, and Other Nontraditional Interfaces
Model and Modeless Friction Compensation: Application to a Defective Haptic Interface
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
Self-aligning exoskeleton axes through decoupling of joint rotations and translations
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
Pick to place trajectories in human arm training environment
Technology and Health Care
Mechanical design of a novel hand exoskeleton for accurate force displaying
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Development of an exoskeleton haptic interface for virtual task training
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Ergonomics of exoskeletons: subjective performance metrics
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Regressor-free force/position control of fixed-base exoskeletons for rehabilitation tasks
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Pick to place trajectories in human arm training environment
Technology and Health Care
IEEE Transactions on Robotics
A multi-functional rehabilitation device to assist forearm/wrist and grasp therapies
EuroHaptics'10 Proceedings of the 2010 international conference on Haptics - generating and perceiving tangible sensations: Part II
Robotics and Autonomous Systems
Technology and Health Care
A force-feedback exoskeleton for upper-limb rehabilitation in virtual reality
Applied Bionics and Biomechanics
Influence of attachment pressure and kinematic configuration on pHRI with wearable robots
Applied Bionics and Biomechanics
Bio-inspired control of an arm exoskeleton joint with active-compliant actuation system
Applied Bionics and Biomechanics
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The paper presents the mechanical design of the LEXOS, a new exoskeleton for the human arm. The exoskeleton is a tendon driven wearable haptic interface with 5 dof, 4 actuated ones, and is characterized by a workspace very close to the one of the human arm. The design has been optimized to obtain a solution with reduced mass and high stiffness, by employing special mechanical components and carbon fiber structural parts. The devised exoskeleton is very effective for simulating the touch by hand of large objects or the manipulation within the whole workspace of the arm. The main features of the first prototype that has been developed at PERCRO are presented, together with an indication of the achieved and tested performance.