Design of a new type dataarm oriented to virtual assembly and teleoperation

Dataarm is a wearable HCI device. First, the domestic and international research of dataarm is summarized. Second, based on the theory of motion stabilization of four-bar linkage and spatial mechanism, a type of mechatronic exoskeleton dataarm with 7 DOF is developed. The mechanism sketch are given, as well as the theory of measuring man arm's motion by dataarm and mathematics model between sensor and man's joint. The general control methods of isomerous robot are discussed. Then a prototype dataarm is made and experiments of drawing line and circle are conducted, as well as teleoperation. The results proved the dataarm is valid and can be applied into fields such as teleoperation.