Portable haptic arm exoskeleton

This chapter describes a seven degree of freedom force-reflective device able to produce haptic rendering on the human arm, either as master for teleoperation of a slave robot, or in interaction with a virtual reality. This project was conducted on behalf of the European Space Agency (ESA) as a prototype of the master device used for teleoperation of future anthropomorphic space robotic arms on the International Space Station (ISS). The motivation is to decrease the number of extravehicular activities of the astronauts, even for complex situations. The structure of portable anthropomorphic exoskeleton of 7 degrees of freedom has been selected by ESA because it allows a more intuitive control of anthropomorphic slave arms; it also allows multiple contact points, offers a larger workspace (comparable to the human arm). Besides, being attached on the astronaut, the system involves only internal forces (it is self-equilibrated) and can be used in zero-gravity.