Abstract
This paper proposes a method of 3D (3 dimensional) perception-assist for an upper-limb power-assist intelligent
exoskeleton with visual information in order to help daily activities of physically weak persons. In daily activities, a user moves his/her arm in 3D space, sometimes to touch or grab objects. In the propose method, the exoskeleton assists the perception of user's motion in 3D space when the user is going to interact with the environment. By using the attached sensors, the exoskeleton can identify the required object for the user when the user is going to interact with such an object in the environment. If the user is moving his/her hand in a correct trajectory with respect to the position of the object, the exoskeleton performs only the ordinal power-assist. In the case when the trajectory of the user's hand is different from that of the estimated 3D trajectory required to properly interact with the object, motion modification is carried out in 3D by the exoskeleton by introducing an additional 3D force vectors at the end-effecter of the exoskeleton to correct the trajectory of the user's hand.
