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12. Design of the Arm Exoskeleton ABLE Achieving Torque Control Using Ball Screw and Cable Mechanism

Author

Philippe Garrec

Subjects
Mechanism (engineering), Computer science, Teleoperation, Torque, Motor torque, Ball screw, Simulation, Exoskeleton, Haptic technology
Abstract

In this chapter, we present the design of ABLE, an anthropomorphic torque–controlled exoskeleton arm operated by reversible ball screw and cable transmissions (named SCS for Screw-and-Cable-System) distributed along its articulated structure making it the first arm and the first exoskeleton using this technology. The SCSs used for all joints provide an accurate motor torque amplification and allow the integration of the motors into the streamlined arm structure. Besides, the ABLE arm features distinctive mechanical innovations, such as the nonorthogonal shoulder joint arrangement and the open forearm–wrist articulated structure. ABLE has been used in research for rehabilitation (ANR-Brahma project) in a 4-DOF version. The last development phase of ABLE ended in 2011 with the creation of a 7-DOF version that was evaluated for industrial haptics and teleoperation usage (ANR-Scale 1 project). Both versions have since been commercialized by Haption.

Published
2020
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13. List of Contributors

Author

Yasuhiro Akiyama, Benedetto Allotta, Robert S. Armiger, Matteo Bianchi, Chris K. Bitikofer, Brahim Brahmi, Sheila Burt, Claudio Castellini, Sarah R. Chang, Domenico Chiaradia, Jungsu Choi, Steve Clark, Steven H. Collins, Antonio J. del-Ama, Brando Dimapasoc, Eric L. Faulring, Peter Walker Ferguson, Antonio Frisoli, Philippe Garrec, Kathryn Geberth, Robert D. Gregg, John B. Helder, Parker W. Hill, Mark M. Iskarous, Lawrence J. Jasinski, Arun Jayaraman, Matthew S. Johannes, Kapil D. Katyal, Rudi Kobetic, Kyoungchul Kong, Hao Lee, Travis Lontz, Alexander Makhlin, Borislav Marinov, Lorenzo Masia, Enrico Meli, Samer Mohammed, Courtney W. Moran, Juan C. Moreno, Tom Moyer, Cristobal Ochoa-Luna, Luke E. Osborn, Matthew P. Para, Carlos Parga, Joel C. Perry, M.H. Rahman, Islam Rasedul, Alessandro Ridolfi, Jacob Rosen, William Zev Rymer, Maarouf Saad, Julio J. Santos-Munne, Nicola Secciani, Nitin Sharma, Yang Shen, Yashna Singh, Massimiliano Solazzi, James Solberg, Nitish V. Thakor, Shawn T. Trimble, Ronald J. Triolo, Thomas Van Doren, Dario J. Villarreal, Alexandra S. Voloshina, Daniel Wahl, Brock A. Wester, Kirby Ann Witte, Eric T. Wolbrecht, Michele Xiloyannis, Yoji Yamada, and Wen Yu

Published
2020
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14. Dedicated and Standard Industrial Robots used as Force-Feedback Telemaintenance Remote Devices at the AREVA Recycling Plant

Author

Philippe Garrec, J-F. Thro, Franck Geffard, Y. Perrot, Gerard Piolain, Alain Coudray, Areva Maintenance, Laboratoire d'Intégration des Systèmes et des Technologies (LIST), Direction de Recherche Technologique (CEA) (DRT (CEA)), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA), AREVA, Groupe AREVA, IEEE, and Laboratoire d'Intégration des Systèmes et des Technologies (LIST (CEA))

Subjects
0209 industrial biotechnology, Engineering, Telerobotics, business.industry, Controller (computing), 0211 other engineering and technologies, Control engineering, Radiation hardening, 02 engineering and technology, Maintenance engineering, 6. Clean water, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Manipulators, 020901 industrial engineering & automation, Remote manipulator, Software, 021105 building & construction, Systems engineering, Index Terms--Force feedback, Robot, business, Robotic arm, Haptic technology
Abstract

International audience; CEA LIST and AREVA have been developing remote operations devices, also called telerobotics for 15 years. These tools were designed for interventions in the AREVA nuclear spent fuel facilities hot cells. From these 15 years of joint research and development, several technological bricks have been industrialized and used at the AREVA La Hague facilities. This article presents some of these bricks and their industrial developments. The " TAO2000 " CEA LIST telerobotics generic software controller will be first discussed. This controller has been used to teleoperate dedicated slave arms like the MT200 TAO (an evolution of the conventional wall-transmission mechanical telemanipulator (MSM) [3]) as well as industrial robotic arms like the Stäubli RX robots. Both the MT200 TAO and Stäubli RX TAO telerobotics systems provide force-feedback and are now ready to be used as telemaintenance tools at the AREVA La Hague facilities. Two recent maintenance operations using these tools will be detailed at the end of this paper.

Published
2010
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