This paper presents the development of SAM, the Sensoric Arm Master, a 7-DOF portable exoskeleton with integrated actuation and sensors. Local joint control is implemented to improve performances of the device. Some experiments have been conducted with the system to show the functionality of the exoskeleton device linked to a virtual reality.
This paper describes a novel ground development facility that is currently being built at the European Space Agency. The facility can be used to develop and test new man-machine interfaces for tele-control of dexterous space manipulators. Furthermore, the facility allows comparing performance of existing input devices, such as conventional joysticks, with… (More)