Design and characteristic analysis of 7 DOF hybrid master arm with human arm kinematics

Abstract

There are already various types of master arm for teleoperation. But the viewpoint of human arm characteristic requires higher adaptability of master device to human arm. Several characteristics of human arm required for design of new master arm are as follows; hybrid kinematics of human arm (serial and parallel in consideration of kinematics and actuator configuration), distributed muscle. New concept of master arm with human arm characteristics was generated. It has 7 DOF hybrid kinematics and distributed form. Modeling and kinematic analysis was done. Master arm construction and teleoperation system were developed and related control routine was explained. This new master arm shows several improvements in light weight even with worn-type and higher adaptability to distributed human muscles.