23, July 2014

PROJECT TITLE: New Haptic Arm Exoskeletons for Robotics and Automation in Space — EXORAS

Coordinator: Technical University of Cluj-Napoca


  • Transilvania University of Brasov
  • University Politehnica Timisoara

Period: 19 November 2012 – 18 November 2015 

Project director: Senior Lect. PhD Sergiu Dan Stan, Technical University of Cluj-Napoca, Department of Mechatronics and Machine Dynamics

Project team: Teaching staff and researchers from TUCN, TUB and UPT (336 person-month)

Description: The objective of EXORAS is to develop new haptic arm exoskeletons for robotics and automation in space

Project objectives:

  • Analysis of existing  exoskeletons in regard with mechanical/kinematic structure, actuation and control
  • Development of new technical solutions, which eradicate the shortcomings of previous telemanipulation systems (especially meeting of  requirements for lightweight, easy wearable and comfortable system)
  • Design of mechanical parts, actuation systems and control modules 
  • Assembly, calibration and testing of prototypes  


  • WP1 – Project Management
  • WP2 – Dissemination Strategy & Operations
  • WP3 – Exploitation Strategy & Report
  • WP4 – Quality Plan
  • WP5 – Concepts & Models
  • WP6 – Development of Control
  • WP7 – Application, Implementation & Innovation

Contributions to the STAR programme objectives:

  • With stereo vision, an exoskeleton and a cyber-glove, astronauts can operate a robot equipped with an artificial hand far away from where they are physicaly.
  • The impact will be to develop a new haptic arm exoskeleton to enable in-space force-feedback tele-manipulation with redundant robotic arms, and thus help enable new policies in Romania such as robotic exploration, as well as supporting Romania towards increased participation to ESA programs. 
  • The target application of such Exoskeleton is tele-manipulation of astronaut-like robots, operating in a remote harsh environment, by operators placed in a comfortable (but gravity-less) environment.
  • EXORAS project can evaluate how VR and force-feedback can improve current astronaut training program.