The CAPIO Active Upper Body Exoskeleton

Martin Mallwitz, Luis Manuel Vaca Benitez, Bertold Bongardt, Niels Will

In: Workshop Proceedings of the IEEE International Conference on Robotics and Automation 2014. IEEE International Conference on Robotics and Automation (ICRA-2014) May 31-June 5 Hong Kong China 6/2014.


In this extended abstract, a concept for a poster is explained which will present an exoskeleton for the human upper body. This device was developed at the Robotics Innovation Center (RIC), DFKI Bremen, in scope of a project called CAPIO, and is intended to be used for teleoperation of robotic systems. Several novelties of the exoskeleton in the areas of kinematic design, actuation, and manifacturing are presented in the first paragraph ‘Design’. Subsequently, in the paragraph ‘Workflow’, the procedure of obtaining the kinematic and the dynamic model from the computer aided design is reflected. Finally, the approaches of controlling the exoskeleton are described in the paragraph ‘Control’.


140611_The_CAPIO_Active_Upper_Body_Exoskeleton_ICRA_Mallwitz.pdf (pdf, 200 KB) slides_RoboAssist_2014_Mallwitz.pdf (pdf, 875 KB)

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence