A Wearable Upper Limb Exoskeleton for Intuitive Teleoperation of Anthropomorphic Manipulators

Teleoperation technology combines the strength and accuracy of robots with perception cognition abilities human experts, allowing to work as an avatar operator in dangerous environments. The motion compatibility intuitiveness human–machine interface directly affect quality teleoperation. However, many capture methods require special working environments or need bulky mechanisms. In this research, we proposed a wearable, lightweight, passive upper limb exoskeleton, which takes human-machine major concern. pose estimation teleoperation mapping control based on exoskeleton are also discussed. Experimental results showed that by help people can achieve most areas normal range motion. were verified 14-DOF anthropomorphic manipulator good performance tasks.