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1、·9·CHINESEJOURNALOFMECHANICALENGINEERING下行页眉字号9磅，单倍行距，段后1.2磅字号8磅，段后回车换行2次首页上行页眉字号10.5磅，单倍行距，段后1.2磅DOI:10.3901/CJME.2009.05.***,availableonlineatwww.cjmenet.com;www.cjmenet.com.cn论文题目字号14磅，行距固定值16磅，段后回车换行2次Novel6-DOFWearableExoskeletonArmwithPneumaticForce
2、-Feedback字号11磅，段后8磅forBilateralTeleoperationZHANGJiafan1,3,*,FUHailun2,DONGYiming1,ZHANGYu1,YANGCanjun1,andCHENYing11StateKeyLaboratoryofFluidPowerTransmissionandControl,ZhejiangUniversity,Hangzhou310027,China字号10磅，斜体，段后回车换行1次2ZhejiangProvinceInstituteofM
3、etrology,Hangzhou310027,China3NationalDie&MoldCADEngineeringResearchCenter,ShanghaiJiaoTongUniversity,Shanghai200030,ChinaReceivedSeptember8,2008;revisedJanuary18,2009;acceptedFebruary23,2009;publishedelectronicallyMarch6,2009字号8磅，段后回车换行1次字号9磅，段后回车换行1次Abs
4、tract:Aparticularemphasisisputonanovelwearableexoskeletonarm,ZJUESA,with6degreesoffreedom,whichisusedfortherobotteleoperationwiththeforce-feedbackintheunknownenvironment.Inthisexternalstructuremechanism,the3-revolution-prismatic-spherical(3RPS)parallelmec
5、hanismisdevisedfromtheconceptofthehumanupper-limbanatomyandappliedfortheshoulder3-DOFjoint.Meanwhile,theorthogonalexperimentdesignmethodisintroducedforitsoptimaldesign.Aimingatenhancingtheperformanceofteleoperation,theforcefeedbackisemployedbythepneumatic
6、systemonZJUESAtoproducethevividfeelinginadditiontothesoftcontrolinterface.Duetothecompressibilityandnonlinearityofthepneumaticforcefeedbacksystem,anovelhybridfuzzycontrollerforthepreciseforcecontrolisproposedandrealizedbasedontheMega8microcontrollerunitsa
7、stheunitsofthedistributedcontrolsystemonZJUESA.Withtheresultsofseveralexperimentsformaster-slavecontrolwithforcefeedback,thefeasibilityofZJUESAsystemandtheeffectofitshybridfuzzycontrollerareverified.Keywords:exoskeletonarm,teleoperation,pneumaticforce-fee
8、dback,hybridfuzzycontrol一级标题字号12磅，段前空1行，段后回车换行1次字号9磅，段后回车换行2次·9·CHINESEJOURNALOFMECHANICALENGINEERING1INTRODUCTION*Correspondingauthor.E-mail:caffeezhang@hotmail.comThisprojectissupportedbyNationalNaturalScienceFoun
