Control and Interface between an Exoskeleton Master Robot and a Human Like Slave Robot with Two Arm

Abstract

This paper presents hardware implementation of interfacing two robots: an exoskeleton motion capturing master robot and a motion following slave robot. The master robot captures human motions operated by a human operator who wears the exoskeleton device. The slave robot is controlled to follow the motion after the master robot. Control hardware is implemented on an FPGA chip to access multi-joints of the robot. Experimental results show that motion following tasks are successfully achieved in real time. Problems in implementation are addressed.