Design of an Anthropomorphic Haptic Interface for the Human Arm

In this paper, methods and technical issues dealing with the design of an anthropomorphic haptic interface for the upper limb are presented. The device features seven rotational joints whose axes are aligned with the user arm degrees of freedom (d.o.f.) in order to fully preserve the freedom of movement of the human arm. Its links adhere just to the external side of the user arm, without fully wrapping it. The interface can apply forces and torques at the level of the medium part of the arm, forearm and palm of the user. Highly intuitive operation, universal applicability, large workspace and the possibility of being used together with an hand force feedback system, are the most remarkable consequences of its coherent anthropomorphic design. The system requirements and the design choices are discussed; the innovative mechanical solutions are described.