THE CAPIO ACTIVE UPPER BODY EXOSKELETON AND ITS APPLICATION FOR TELEOPERATION

In this paper the active dual-arm upper body exoskeleton Capio, its application for the teleoperation of a complex humanoid robot, as well as its use in a virtual environment are presented. The Capio exoskeleton is a humanmachine interface that tracks the operator’s movements and transfers them to a target system. Multiple contact points at back and arms to the user enable a precise motion measurement and allow a specific force feedback. The combination of the kinematic configuration with 20 active serial elastic joints controlled by a rigid body dynamics algorithm provides mechanical transparency. The possibility to move the torso enhances the exoskeleton workspace. The Capio system is designed portable and lightweight with an easy dressing procedure.

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