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Research Papers

Development of a Wearable Exoskeleton Haptic Interface Device

[+] Author and Article Information
Junji Sone

Faculty of Engineering, Tokyo Polytechnic University, 1583 Iiyama, Atsugi, Kanagawa 243-0297, Japansone@cs.t-kougei.ac.jp

Ryou Inoue, Katsumi Yamada, Takanori Nagae

Faculty of Engineering, Tokyo Polytechnic University, 1583 Iiyama, Atsugi, Kanagawa 243-0297, Japan

Kinya Fujita

Graduate School, Tokyo University of Agriculture and Technology, 2-24-16 Naka-cho, Koganei-shi, Tokyo 184-8588, Japan

Makoto Sato

Precision and Intelligence Laboratory, Tokyo Institute of Technology, 4259 Nagatsuta-cho, Midori-ku, Yokohama, Kanagawa 226-8503, Japan

J. Comput. Inf. Sci. Eng 8(4), 041009 (Nov 26, 2008) (12 pages) doi:10.1115/1.3009670 History: Received September 01, 2007; Revised October 06, 2008; Published November 26, 2008

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.

Copyright © 2008 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Force representation method scheme

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Figure 2

Mechanism of haptic interface

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Figure 3

System construction

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Figure 4

Upper direction force for pull-up action

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Figure 5

EMG of biceps brachii for pull-up action

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Figure 6

EMG of palmaris longus for pull-up action

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Figure 7

Biceps brachii force pattern of pull-up action. (a) Biceps brachii force pattern 1 (subject A), (b) biceps brachii force pattern 2 (subject A), (c) biceps brachii force pattern 3 (subject B), and (d) biceps brachii force pattern 4 (subject B).

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Figure 8

Biceps brachii force pattern of pull-up action (approximation). (a) Biceps brachii force pattern 5 (subject A), (b) biceps brachii force pattern 6 (subject A), (c) biceps brachii force pattern 7 (subject B), and (d) biceps brachii force pattern 8 (subject B).

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Figure 9

Palmaris longus force pattern of pull-up action. (a) Palmaris longus force pattern 9 (subject A), and (b) palmaris longus force pattern 10 (subject B).

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Figure 10

Palmaris longus force pattern of pull-up action (approximation). (a) Palmaris longus force pattern 11 (subject A), and (b) palmaris longus force pattern 12 (subject B).

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Figure 11

Outline procedure of experiments

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Figure 12

Average effect of lead time for force patterns 1–4. (a) Average effect of lead time for force pattern 1, (b) average effect of lead time for force pattern 2, (c) average effect of lead time for force pattern 3, and (d) average effect of lead time for force pattern 4.

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Figure 13

Average effect of lead time for force patterns 5–8. (a) Average effect of lead time for force pattern 5, (b) average effect of lead time for force pattern 6, (c) average effect of lead time for force pattern 7, and (d) average effect of lead time for force pattern 8.

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Figure 14

(a) Motor driven voltage, (b) EMG data of haptic interface, and (c) EMG data of actual action

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Figure 15

Motor driven voltage, EMG data of haptic and actual action for pattern 8, and lead time: 100 ms (subject B). (a) Motor driven voltage, (b) EMG data of haptic interface, and (c) EMG data of actual action.

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Figure 16

Average effect of lead time for force patterns 5 and 11

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Figure 17

Average effect of lead time for force patterns 8 and 11

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Figure 18

(a) Motor driven voltage, (b) EMG data of haptic interface, and (c) EMG data of actual action

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Figure 19

(a) Motor driven voltage, (b) EMG data of haptic interface, and (c) EMG data of actual action

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Figure 20

(a) Motor driven voltage, (b) EMG data of haptic interface, and (c) EMG data of actual action

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Figure 21

Motor driven voltage, EMG data of haptic and actual action for palmaris longus and pattern 11, and lead time: 0 ms (subject C). (a) Motor driven voltage, (b) EMG data of haptic interface, and (c) EMG data of actual action.

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