Force interactions in the synthetic environment using the ISU force reflecting exoskeleton

초록

With the increasing development of sophisticated computer graphic displays, attention has been focused on methods to provide force feedback to the human operator in the Virtual environment. This work presents results from a prototype exoskeleton device for use in virtual reality force feedback systems. This design is based on the use of an electro-magnetic interface to couple a robotic exoskeleton with the human operator. In this system, a robotic mechanism provides an absolute link to ground and supports the weight of the actuation devices and tracking sensors. The mechanical link to ground allows the application of arbitrary interaction forces and provides the position, velocity, and force reference information needed to update graphical displays and generate accurate force feedback. An electromagnetic interface eliminates heavy and bulky mechanical attachments to the operator, and provides the capability for high bandwidth force application. By using a robotic manipulator to support the heavy parts of the system, the working range of motion is increased. The system provides the flexibility of producing a wide range of both relative forces between two fingers and absolute forces between fingers and the environment. This two-degree-of-freedom functional prototype is currently in the testing phase, and preliminary results show adequate motion tracking and force generation capabilities.