{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,7,30]],"date-time":"2025-07-30T12:45:32Z","timestamp":1753879532567,"version":"3.41.2"},"reference-count":21,"publisher":"ASME International","issue":"4","content-domain":{"domain":["asmedigitalcollection.asme.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2008,12,1]]},"abstract":"<jats:p>We developed a wearable exoskeleton haptic interface to fit the human body. We generated a force constituting a contrasting moment by pulling a wire using a dc motor. We also developed a control system, which included a motor controller, an interface, and a control software. We evaluated the performance of our interface by conducting a simple task experiment. To execute one task, the control data for each joint jaw must be prepared, and we used force control data generated by a rectified and filtered electromyogram (EMG) curve. From the force representation experiments, it was determined that a force curve based on the EMG data could be used for a haptic interface, and we confirmed that a suitable force curve could be obtained for each subject.<\/jats:p>","DOI":"10.1115\/1.3009670","type":"journal-article","created":{"date-parts":[[2008,11,26]],"date-time":"2008-11-26T23:46:46Z","timestamp":1227743206000},"update-policy":"https:\/\/doi.org\/10.1115\/crossmarkpolicy-asme","source":"Crossref","is-referenced-by-count":2,"title":["Development of a Wearable Exoskeleton Haptic Interface Device"],"prefix":"10.1115","volume":"8","author":[{"given":"Junji","family":"Sone","sequence":"first","affiliation":[{"name":"Faculty of Engineering, Tokyo Polytechnic University, 1583 Iiyama, Atsugi, Kanagawa 243-0297, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ryou","family":"Inoue","sequence":"additional","affiliation":[{"name":"Faculty of Engineering, Tokyo Polytechnic University, 1583 Iiyama, Atsugi, Kanagawa 243-0297, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Katsumi","family":"Yamada","sequence":"additional","affiliation":[{"name":"Faculty of Engineering, Tokyo Polytechnic University, 1583 Iiyama, Atsugi, Kanagawa 243-0297, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Takanori","family":"Nagae","sequence":"additional","affiliation":[{"name":"Faculty of Engineering, Tokyo Polytechnic University, 1583 Iiyama, Atsugi, Kanagawa 243-0297, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kinya","family":"Fujita","sequence":"additional","affiliation":[{"name":"Graduate School, Tokyo University of Agriculture and Technology, 2-24-16 Naka-cho, Koganei-shi, Tokyo 184-8588, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Makoto","family":"Sato","sequence":"additional","affiliation":[{"name":"Precision and Intelligence Laboratory, Tokyo Institute of Technology, 4259 Nagatsuta-cho, Midori-ku, Yokohama, Kanagawa 226-8503, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"33","published-online":{"date-parts":[[2008,11,26]]},"reference":[{"volume-title":"Force and Touch Feedback for Virtual Reality","author":"Burdea","key":"2019100401244476100_c1"},{"volume-title":"The Phantom Haptic Interface: A Device for Probing Virtual Objects","author":"Massie","first-page":"295","key":"2019100401244476100_c2"},{"key":"2019100401244476100_c3","first-page":"1034","article-title":"Development of String-Based Force Display: SPIDAR","volume-title":"Proceedings of the Eighth International Conference on Virtual Systems and Multi Media VSMM 2002","author":"Sato"},{"key":"2019100401244476100_c4","first-page":"95","article-title":"Basic Technology of Simulation System for Laparoscopic Surgery in Virtual Environment With Force Display","volume-title":"Proceedings of the Virtual Reality Society of Japan Annual Conference","author":"Asano"},{"volume-title":"Proceedings of the IEEE Virtual Reality Conference","author":"Hirose","article-title":"Development of Wearable Force Display (HapticGEAR) for Immersive Projection Display","key":"2019100401244476100_c5"},{"unstructured":"Tanaka\n              Y.\n            , SakaiM., KohnoY., FukuiY., YamashitaJ., and NakamuraN., 2001, \u201cMobile Torque Display and Haptic Characteristics of Human Palm,\u201d ICAT 2001.","key":"2019100401244476100_c6"},{"issue":"2","key":"2019100401244476100_c7","first-page":"181","article-title":"Development of a Rotation Moment-Type Force Display Using Mechanical Breaks","volume":"5","author":"Ando","journal-title":"Journal of Human Interface Society"},{"key":"2019100401244476100_c8","first-page":"619","article-title":"Virtual Force Display: Direction Guidance Using Asymmetric Acceleration Via Periodic Translational Motion","volume-title":"Proceedings of the IEEE World Haptics Conference 2005","author":"Amemiya"},{"issue":"2","key":"2019100401244476100_c9","first-page":"135","article-title":"Wearable Force Feedback Joystick","volume":"13","author":"Iwata","journal-title":"Human Interface N&R"},{"key":"2019100401244476100_c10","first-page":"2566","article-title":"Haptic Display for Object Grasping and Manipulating in Virtual Environment","volume-title":"Proceedings of the 1998 IEEE International Conference on Robotics and Automation","author":"Maekawa"},{"issue":"3","key":"2019100401244476100_c11","doi-asserted-by":"crossref","first-page":"280","DOI":"10.1109\/TMECH.2006.875558","article-title":"Design of a Haptic Arm Exoskeleton for Training and Rehabilitation","volume":"11","author":"Gupta","journal-title":"IEEE\/ASME Trans. Mechatron.","ISSN":"https:\/\/id.crossref.org\/issn\/1083-4435","issn-type":"print"},{"issue":"2","key":"2019100401244476100_c12","doi-asserted-by":"crossref","first-page":"198","DOI":"10.1109\/TSMCA.2004.832836","article-title":"A Force Reflected Exoskeleton-Type Masterarm for Human-Robot Interaction","volume":"35","author":"Kim","journal-title":"IEEE Trans. Syst. Man Cybern., Part A. Syst. Humans","ISSN":"https:\/\/id.crossref.org\/issn\/1083-4427","issn-type":"print"},{"key":"2019100401244476100_c13","doi-asserted-by":"crossref","DOI":"10.1109\/HAPTIC.2006.1627127","article-title":"Performance Enhancement of a Haptic Arm Exoskeleton","volume-title":"Proceedings of the 2006 IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems","author":"Sledd"},{"key":"2019100401244476100_c14","first-page":"648","article-title":"Power Assist Method ForHAL-3 Using EMG-Based Feedback Controller","volume-title":"Proceedings of the International Conference on Systems, Man, and Cybernetics (SMC2003)","author":"Kawamoto"},{"unstructured":"Perry, J., and Rosen, J., 2006, \u201cDesign of a 7 Degree-of-Freedom Upper-Limb Powered Exoskeleton,\u201d IEEE\/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics.","key":"2019100401244476100_c15"},{"key":"2019100401244476100_c16","doi-asserted-by":"publisher","first-page":"415","DOI":"10.1006\/cbmr.1999.1524","article-title":"\u201cPerformances of Hill-Type and Neural Network Muscle Models\u2014Toward a Myosignal-Based Exoskeleton","volume":"32","author":"Rosen","journal-title":"Comput. Biomed. Res.","ISSN":"https:\/\/id.crossref.org\/issn\/0010-4809","issn-type":"print"},{"issue":"1","key":"2019100401244476100_c17","first-page":"19","article-title":"Haptic Broadcast: Remote Haptic Sharing of Elastic Objects Allowing Active Pinch Using Electromyogram for Force Estimation","volume":"11","author":"Nishisaka","journal-title":"Transaction of Virtual Reality Society of Japan"},{"volume-title":"Practical Usage of Surface Electromyogram","author":"Kizuka","key":"2019100401244476100_c18"},{"key":"2019100401244476100_c19","doi-asserted-by":"crossref","first-page":"351","DOI":"10.1007\/3-540-46846-3_44","article-title":"Extraction of Primitive Motion for Human Motion Recognition","volume":"1721","author":"Osaki","journal-title":"Lect. Notes Comput. Sci.","ISSN":"https:\/\/id.crossref.org\/issn\/0302-9743","issn-type":"print"},{"key":"2019100401244476100_c20","first-page":"924","article-title":"A System for Analyzing and Indexing Human-Motion Databases","volume-title":"Proceedings of the 2005 ACM SIGMOD international Conference on Management of Data","author":"Liu"},{"issue":"2","key":"2019100401244476100_c21","doi-asserted-by":"publisher","first-page":"219","DOI":"10.1109\/TVCG.2006.32","article-title":"Improving Contact Realism Through Event-Based Haptic Feedback","volume":"12","author":"Kuchenbecker","journal-title":"IEEE Trans. Vis. Comput. Graph.","ISSN":"https:\/\/id.crossref.org\/issn\/1077-2626","issn-type":"print"}],"container-title":["Journal of Computing and Information Science in Engineering"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/asmedigitalcollection.asme.org\/computingengineering\/article-pdf\/doi\/10.1115\/1.3009670\/5578402\/041009_1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"http:\/\/asmedigitalcollection.asme.org\/computingengineering\/article-pdf\/doi\/10.1115\/1.3009670\/5578402\/041009_1.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,10,4]],"date-time":"2019-10-04T05:24:56Z","timestamp":1570166696000},"score":1,"resource":{"primary":{"URL":"https:\/\/asmedigitalcollection.asme.org\/computingengineering\/article\/doi\/10.1115\/1.3009670\/400074\/Development-of-a-Wearable-Exoskeleton-Haptic"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2008,11,26]]},"references-count":21,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2008,12,1]]}},"URL":"https:\/\/doi.org\/10.1115\/1.3009670","relation":{},"ISSN":["1530-9827","1944-7078"],"issn-type":[{"type":"print","value":"1530-9827"},{"type":"electronic","value":"1944-7078"}],"subject":[],"published":{"date-parts":[[2008,11,26]]},"article-number":"041009"}}