The CAPIO Active Upper Body Exoskeleton and its Application for Teleoperation

Martin Mallwitz, Niels Will, Johannes Teiwes, Elsa Andrea Kirchner

In: Proceedings of the 13th Symposium on Advanced Space Technologies in Robotics and Automation. ESA/Estec Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA-2015) ESA 2015.


In this paper the active dual-arm upper body exoskeleton Capio, its application for the teleoperation of a complex humanoid robot, as well as its use in a virtual environment are presented. The Capio exoskeleton is a humanmachine interface that tracks the operator’s movements and transfers them to a target system. Multiple contact points at back and arms to the user enable a precise motion measurement and allow a specific force feedback. The combination of the kinematic configuration with 20 active serial elastic joints controlled by a rigid body dynamics algorithm provides mechanical transparency. The possibility to move the torso enhances the exoskeleton workspace. The Capio system is designed portable and lightweight with an easy dressing procedure. Key words: space robotics, teleoperation, robot design, system engineering, virtual environment, exoskeleton, human-machine interface


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