MECHANICAL DESIGN, CONTROL AND IMPLEMENTATION OF A 4 DOF UPPER LIMB EXOSKELETON ROBOT

Publish Year: 1397
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:

ISME26_585

تاریخ نمایه سازی: 30 دی 1397

Abstract:

Exoskeleton robots are supposed to play a prominent role in the field of rehabilitation, motion assist and human power augmentation. Robotic technology andimplementation for rehabilitation training has been developed recently. Therefore, the conventional rehabilitation platforms are expected to change. In recent years, the mechanical designs and control algorithms of active upper limb exoskeleton robots were developed significantly. In this paper. first, dynamic model of a 4 degrees of freedomupper limb exoskeleton robot is determined completely. Afterward. mechanical design which includes concept design and motor selection are discussed. Furthermore,implementation process of fabricated exoskeleton robot is presented. Moreover, a control algorithm is applied to the exoskeleton robot for load carrying and power augmentation. Thus, the desired velocity of one joint is taken to be proportional to the interaction force at the corresponding joint. At last, experimental tests based onthe simulations, validate proposed mechanical design aI1d control method of the exoskeleton robot.

Authors

azita sharif ahmadian

Student, Center of Advanced Systems andtechnologies, University of Tehran

aghil yousefi koma

Professor, Center of Advanced Systems and Technologies, University of Tehran

arman nikkhah

Student, Center of Advanced Systems and Technologies, University of Tehran

mohammad mahdavian

Student, Department of Mechatronie Systems Engineering, Simon Fraser University