Journal
CONTROL ENGINEERING PRACTICE
Volume 72, Issue -, Pages 104-113Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2017.09.003
Keywords
Exoskeleton robot; Wearable robot; Power augmentation; Refractory construction
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In this paper, a novel 7-DOF (degree-of-freedom) upper-limb robotic exoskeleton was developed for helping refractory construction operations in furnaces. The exoskeleton is the dual-arm type wearable robot that cooperates with human operators. Each arm includes Force/Torque (F/T) sensors to detect the human's motion, and the robot can handle a refractory of up to 50 kg. The exoskeleton robot generates not only high strength but also various 3-dimensional motions with the load, and it is highly suitable for the refractory construction operation. (C) 2017 Elsevier Ltd. All rights reserved.
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