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Enable Intuitive and Immersive Teleoperation: Design, Modeling and Control of a Novel Wearable Exoskeleton

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Intelligent Robotics and Applications (ICIRA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14268))

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Abstract

Haptic devices with human motion capture function enable natural and flexible teleoperation within unstructured environment. As one of the typical types among haptic devices, wearable exoskeleton allows intuitive and immersive teleoperation. For such a portable device, weight and motion compatibility have a great influence on the potential control performance. This paper presents the development of WIE, the wearable intelligent equipment, a 5-DOF portable exoskeleton that is lightweight and accessible. The mechanism of WIE is designed to suit the majority of human using the adjustable links. Kinematic analysis of it shows a high motion compatibility with human upper limb in the workspace. Furthermore, an incremental motion mapping method is adopted in the joint space to control the slave robot. The pick-and-place experiment is conducted to evaluate the performance of WIE as well as the remote-control strategy. The results indicate that the robot manipulator presents a good following behavior according to the human motions captured by WIE.

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Acknowledgment

This work was supported in part by the National Natural Science Foundation of China (No. 51975513), the Natural Science Foundation of Zhejiang Province, China (No. LR20E050003), the Major Research Plan of National Natural Science Foundation of China (No. 51890884), the Major Research Plan of Ningbo Innovation 2025. (Grant No. 2020Z022), the Bellwethers Research and Development Plan of Zhejiang Province (No. 2023C01045).

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Authors and Affiliations

  1. State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China

    Ruohan Wang, Xi Cui, Honghao Lv, Guangyao Zhang & Geng Yang

  2. Key Laboratory of Intelligent Robot for Operation and Maintenance of Zhejiang Province, Hangzhou Shenhao Technology, Hangzhou, China

    Haiteng Wu & Geng Yang

Authors
  1. Ruohan Wang
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  2. Xi Cui
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  3. Honghao Lv
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  4. Guangyao Zhang
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  5. Haiteng Wu
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  6. Geng Yang
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Corresponding author

Correspondence to Geng Yang .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Huayong Yang

  2. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  3. Zhejiang University, Hangzhou, China

    Jun Zou

  4. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  5. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  6. Zhejiang University, Hangzhou, China

    Geng Yang

  7. Zhejiang University, Hangzhou, China

    Xiaoping Ouyang

  8. Harbin Institute of Technology, Shenzhen, China

    Zhiyong Wang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Wang, R., Cui, X., Lv, H., Zhang, G., Wu, H., Yang, G. (2023). Enable Intuitive and Immersive Teleoperation: Design, Modeling and Control of a Novel Wearable Exoskeleton. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14268. Springer, Singapore. https://doi.org/10.1007/978-981-99-6486-4_17

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  • DOI: https://doi.org/10.1007/978-981-99-6486-4_17

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6485-7

  • Online ISBN: 978-981-99-6486-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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