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This paper presents ABLE, an innovative exoskeleton for the upper limb currently under development at CEA-LIST Interactive Robotics Unit. Its distinctive high performance mechanical transmissions - screw and cable patented arrangement - and its integrated architecture makes it the very first of its category. The first 4 axis model is described here but more(More)
We present a new device aimed at being used for upper limb rehabilitation. Our main focus was to design a robot capable of working in both the passive mode (i.e. the robot shall be strong enough to generate human-like movements while guiding the weak arm of a patient) and the active mode (i.e. the robot shall be able of following the arm without disturbing(More)
Usually, the joint transmission friction model for robots is composed of a viscous friction force and of a constant dry sliding friction force. However, according to the Coulomb law, the dry friction force depends linearly on the load driven by the transmission. It follows that this effect must be taken into account for robots working with large variation(More)
Usually, the joint transmission friction model for robots is composed of a viscous friction force and of a constant dry sliding friction force. However, according to the Coulomb law, the dry friction force depends linearly on the load driven by the transmission, which has to be taken into account for robots working with large variation of the payload or(More)
CEA LIST and AREVA have been developing remote operations devices, also called telerobotics for 15 years. These tools were designed for interventions in the AREVA nuclear spent fuel facilities hot cells. From these 15 years of joint research and development, several technological bricks have been industrialized and used at the AREVA La Hague facilities.(More)
EMY (Enhancing MobilitY) is an exoskeleton dedicated to the evaluation of Brain Machine Interface during clinical trials. This paper presents the first version of EMY restricted to upper limbs with four actuated joints per arm. Since an evaluation of a BMI controlled exoskeleton by a disabled person requires clinical trials, a risk management process should(More)
In this article, we present for the first time the lessons learned during an extensive testing campaign of the new telerobotic system MT200-TAO carried out in an active hot-cell. The extremely positive results obtained during the 10 months continuous working period have permitted the validation of the system for its use. The system will be installed first(More)