Exoskeleton for Tele-Operation of Industrial Robot

摘要

An upper limb exoskeleton is being used as master for tele-operation designed to control KUKA KR5 robot that is not directly accessible. Design and implementation issues for this task have been discussed. The connectivity is through .NET remoting, gravity balancing with springs and compacts solutions for alignments of collocated shafts have been achieved through design.