Dual-arm upper-body exoskeleton for telerobotics and rehabilitation

Michele Folgheraiter

In: Proceedings of Robotica 2011. Robotica (Robotica-2011) Humanoid and Service Robots November 16-19 Milano Italy Artenergy Publishing 11/2011.


Interaction into an innovative system designed for remote control of robotic systems. The exoskeleton is designed on the base of the human arm anatomy and allows a complex interaction with the operator. The device is thought to be wearable, lightweight, and adaptable to different user sizes. Its kinematics is configured to avoid constraint to the limb's movements, while offering a high level of comfort within the overall arm workspace. The control strategy, based on a combination of classical and bio-inspired techniques, enhances the harmonization with the human arm’s nervous system and ensures the overall system safety. Based on the findings of VI-Bot, its successor "the Capio project" aims at developing a universal upper-body dual-arm exoskeleton applicable both for teleoperation and rehabilitation tasks.


Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence