%0 Journal Article
%T Exoskeleton arm with force feedback for robot bilateral teleoperation<br>
%A Zhang Jiafan
%A Yang Canjun
%A Chen Ying
%A <br>
%J 自然科学进展
%D 2007
%I 
%X A novel 6 degrees of freedom (DOFs) wearable exoskeleton arm, ZJUESA, based on man-machine system is presented. It can be used in robot bilateral teleoperation as master arm with force-feedback. With introducing the revolute-prismatic-spherical (RPS) parallel mechanism and planetary gear mechanism, it is designed based on the anatomy of human upper-limb. With the sensors on this external mechanical structure, the human operator motion is detected and converted to the slave robot control command. Additionally the pneumatic system on it generates a force feedback by using hybrid fuzzy control. As a result, the human operator may have a feeling of doing the work directly.
%K exoskeleton arm
%K robot teleoperation
%K force feedback
%K hybrid fuzzy control<br>
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=01BA20E8BA813E1908F3698710BBFEFEE816345F465FEBA5&cid=96E6E851B5104576C2DD9FC1FBCB69EF&jid=504AF8C1E5476CA7C4EC9DF6FEAC14AC&aid=4800F28CB2BE617AAD8325A8980F3228&yid=A732AF04DDA03BB3&vid=BCA2697F357F2001&iid=5D311CA918CA9A03&sid=29C36F017AD88B64&eid=2F26E27A20AEB31F&journal_id=1002-008X&journal_name=自然科学进展&referenced_num=0&reference_num=0