Harness Design and Coupling Stiffness for Two-Axis Torso Haptics

This paper describes a harness design for transmitting both horizontal and vertical forces to the torso of a user on a locomotion interfaces. For horizontal forces, an exoskeleton-like mechanism distributes forces between the shoulders and hips and accommodates to the complicated motions of the back and shoulders relative to hips. For vertical forces, a body weight support harness is integrated into the exoskeleton-like mechanism. A passive elastic element has been devised that ensures consistent strap tightening. Measurements are presented that shows the stiffness of the mechanical coupling of harness to subject for the purposes of faithful force application to the torso.

[1]  R. Kram,et al.  The independent effects of gravity and inertia on running mechanics. , 2000, The Journal of experimental biology.

[2]  John M. Hollerbach,et al.  Design Specifications for the Second Generation Sarcos Treadport Locomotion Interface , 2000, Dynamic Systems and Control: Volume 2.

[3]  Richard Kirkman,et al.  Conceptual design of an adaptive wind tunnel for the generation of unsteady complex flow patterns , 2005 .

[4]  H. Noma,et al.  Design for Locomotion Interface in a Large Scale Virtual Environment ATLAS: ATR Locomotion Interface for Active Self Motion , 1998, Dynamic Systems and Control.

[5]  Haruo Noma,et al.  Simulating side slopes on locomotion interfaces using torso forces , 2003, 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings..

[6]  Massimo Bergamasco,et al.  Design and Analysis of a Harness for Torso Force Application in Locomotion Interfaces , 2003 .

[7]  R Kram,et al.  Applied horizontal force increases impact loading in reduced-gravity running. , 2001, Journal of biomechanics.

[8]  John M. Hollerbach,et al.  Inertial-Force Feedback for the Treadport Locomotion Interface , 2000, Presence: Teleoperators & Virtual Environments.

[9]  John M. Hollerbach,et al.  Torso Force Feedback Realistically Simulates Slope on Treadmill-Style Locomotion Interfaces , 2001, Int. J. Robotics Res..

[10]  Lynette A. Jones,et al.  Development of a tactile vest , 2004, 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings..

[11]  P R Cavanagh,et al.  Evaluation of a Treadmill with Vibration Isolation and Stabilization (TVIS) for use on the International Space Station. , 1999, Journal of applied biomechanics.

[12]  R. Kram,et al.  Walking in simulated reduced gravity: mechanical energy fluctuations and exchange. , 1999, Journal of applied physiology.

[13]  David R. Carrier,et al.  Validation of torso force feedback slope simulation through an energy cost comparison , 2005, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference.