Print Email Facebook Twitter Fundamentals of ergonomic exoskeleton robots Title Fundamentals of ergonomic exoskeleton robots Author Schiele, A. Contributor Van der Helm, F.C.T. (promotor) Faculty Mechanical Maritime and Materials Engineering Date 2008-05-14 Abstract This thesis is the first to provide the fundamentals of ergonomic exoskeleton design. The fundamental theory as well as technology necessary to analyze and develop ergonomic wearable robots interacting with humans is established and validated by experiments and prototypes. The fundamentals are (1) a new theoretical framework for analyzing physical human robot interaction (pHRI) with exoskeletons, and (2) a clear set of design rules of how to build wearable, portable exoskeletons to easily and smoothly interact with varying users in a haptic telemanipulation scenario. The fundamentals aim at providing the basis for truly human compatible exoskeleton design from a human as well as technological perspective. Subject exoskeletonergonomicshuman-machine interactionroboticsrobotsactuatorsbowden cablekinematicshuman robot interactionhumaninteractionphrihricontrolrobot control telemanipulationtelepresencehapticforce feedbackspace roboticsman-machine interfaceman machine interface To reference this document use: http://resolver.tudelft.nl/uuid:80d212ff-37d0-4ddd-aee1-820bb24cf35e ISBN 978-90-8559-379-9 Part of collection Institutional Repository Document type doctoral thesis Rights (c) 2008 A. Schiele Files PDF Schiele_20080514.pdf 17.87 MB Close viewer /islandora/object/uuid:80d212ff-37d0-4ddd-aee1-820bb24cf35e/datastream/OBJ/view