This technology is a suit-type master device that implements 9 degrees of freedom by mimicking human upper limb anatomy. It provides shoulder protraction and retraction through a scapular section featuring an open 4-bar linkage structure, and controls position and force feedback via integrated actuators and encoders placed at each joint.
Conventional suit-type master devices are limited to simple ball-joint models that cannot replicate shoulder protraction and retraction, failing to fully reflect human upper limb kinematics and limiting the precision of force control and remote operation for industrial robot arms.
This technology constructs a multi-degree-of-freedom master arm consisting of a back frame-based scapular section, shoulder section, upper arm section, lower arm section, and handle section. It features implementation of forward and backward movement via the 4-bar linkage of the scapular section, reaction force control through joint-specific encoders and actuators, and user force measurement using load cells and adjustable length mechanisms for the upper and lower arm sections to fit the user's physique.
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