Development of Tele-Existence Thermal Haptics Robot Arm System for Experiencing Remote Interactive Thermal(hot/cold) Environment

（Prototype Design of a Haptic Exoskeleton Wearable Arm Device and Reproducibility of Remote Temperature Environment Provided by Wearable Device）

Abstract

In this study, the development of the tele-existence robot arm in which human beings can experience not only the haptic environment but also the thermal (hot/cold) environment was focused on. In this report, the temperature transmission system was actually developed, and the trial operations were conducted. A comparison between reproductivities of two types of thermal control units of wearable device to generate a cold environment was made. For the development of a proper wearable device, it is important to design the configuration of joints of the wearable device so as to allow every motions and postures of an operator without any interruption. A prototype design of a wearable arm device, originated from a collar bone joint, with a novel (111) isometric shoulder configuration, was also introduced.