Game Development Reference
In-Depth Information
Figure 8.22 CyberForce Interface, reproduced by permission of Immersion Corporation, Copyright
C2005 Immersion Corporation, All right reserved
Table 8.9 Features of the L-EXOS and CEA-LIST Orthosis.
CEA-LIST Orthosis
Work space
70%Work space of the arm
Close to the work space of the arm
Peak force
Model 1: 19.8 to 20.2N
Model 2: 79.8 to 80.9N
Continuous force
Model 1: 4 to 4.6N
Model 2: 15.9 to 18.4N
Force resolution
Apparent stiffness
11 kg
11 kg
close to that of the arm (Figure 8.20). It uses carbon fibre segments and the motors are
offset for maximum lightness. Cable transmissions are used to actuate remote articu-
lations. Planetary reducers help to increase the force capacity. They are arranged at the
level of the articulations to increase bandwidth. They however introduce plays that are
significant at the level of the effector as shown in table 8.9. Although it is equipped to
be portable, in practice, this interface requires a support because of its weight and its
overall dimension.
Another exoskeleton with force feedback has been developed in CEA-LIST (Garrec
et al., 2004). This interface has 5 degrees of freedom including 2 that are actuated. They
use jack actuators with floating screw cables. This technology devised by the CEA-LIST
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