DESIGN OF A BIO-INSPIRED WEARABLE EXOSKELETON FOR APPLICATIONS IN ROBOTICS

Abstract

In this paper we explain the methodology we adopted to design the kinematics structure of a multi-contact point haptic interface. We based our concept on the analysis of the human arm anatomy and kinematics with the intend to synthesize a system that will be able to interface with the human limb in a very natural way. We proposed a simplified kinematic model of the human arm using a notation coming from the robotics field. To find out the best kinematics architecture we employed real movement data, measured from a human subject, and integrated them with the kinematic model of the exoskeleton. This allow us to test the system before its construction and to formalize specific requirements. We also implemented and tested a first passive version of