Development of the Cartesian Arm Exoskeleton System (CAES) using a 3-axis Force/Torque Sensor

Abstract

This paper presents the development of the exoskeleton system for amplifying human strength, which we call the Cartesian arm exoskeleton system (CAES). The CAES is a highly geared manipulator equipped with electric motors and encoders. In addition, we developed a 3-axis force/torque (FT) sensor to measure the operator's force. The Cartesian computed torque method is applied to the CAES for compliance control. The explicit force control for amplifying the operator's force was explored. This method provides back-drivable compliant control with force amplification. Rather than theoretical improvements, we focused on the experimental realization and evaluation of the Cartesian computed torque method with explicit force control for improving joint compliance and amplifying the operator's force. The experimental results demonstrated the effectiveness of the proposed control method.