Exoskeleton with Soft Actuation and Haptic Interface

  • Ivanka VenevaEmail author
  • Dimitar Chakarov
  • Mihail Tsveov
  • Pavel Venev
Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 22)


This work presents an active orthotic device with a wearable structure corresponding to the natural motions of the human that can be used for motion capturing and mobility assisting. The exoskeleton structure includes left and right upper limb, left and right lower limb fabricated with light materials and powered by pneumatic artificial muscles. The proposed exoskeleton provides more than fifteen degrees of freedom and can operate in three modes: Motion tracking and data exchange with virtual reality (VR); Haptic device with force-feedback that can display sensory information from a virtual reality to the user; Assistive and rehabilitation device in cases of impaired muscles.

The design and development has been carried out in Institute of Mechanics, Bulgarian Academy of Sciences, Sofia, Bulgaria.



This research was supported by the European Commission through FP7 Integrated Project VERE [grant number 257695]; Bulgarian Science Found [grant number DN 07/9].


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Ivanka Veneva
    • 1
    Email author
  • Dimitar Chakarov
    • 1
  • Mihail Tsveov
    • 1
  • Pavel Venev
    • 1
  1. 1.Mechatronics Department, Institute of MechanicsBulgarian Academy of SciencesSofiaBulgaria

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