Design and control solutions for haptic elbow exoskeleton module used in space telerobotics

The paper deals with design solutions for the elbow module of a haptic arm exoskeleton used for remote control of robots in space. The haptic elbow exoskeleton module should control the motion of the robot and have a haptic feedback from it. The design solutions for achieving the mechanical feedback can use controlled mechanism structures or direct actuators. Several proposed design solutions and a control strategy are shown in the paper.