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, (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,