Interactive 7-DOF motion controller of the operator arm (ExoArm 7-DOF)

The article focuses on designed construction of the exoskeleton, which significantly reproduces the kinematic structure and the range of joint movement of the human upper limb. The exoskeleton will able to control real objects i.e. loading crane, including force feedback. The designed device, composed of seven rotary joints, is equipped with the closed loop Bowden cable conduit system with linear DC actuators. This conduit system was applied in order to significantly reduce the mass of designed construction. The article describes the proposed kinematic structure, as well as the simple dynamic analysis of the ExoArm 7-DOF. The results of the device manipulability analysis are also included in this paper.