We found a match
Your institution may have access to this item. Find your institution then sign in to continue.
- Title
A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation.
- Authors
Gull, Muhammad Ahsan; Thoegersen, Mikkel; Bengtson, Stefan Hein; Mohammadi, Mostafa; Andreasen Struijk, Lotte N. S.; Moeslund, Thomas B.; Bak, Thomas; Bai, Shaoping
- Abstract
Wheelchair mounted upper limb exoskeletons offer an alternative way to support disabled individuals in their activities of daily living (ADL). Key challenges in exoskeleton technology include innovative mechanical design and implementation of a control method that can assure a safe and comfortable interaction between the human upper limb and exoskeleton. In this article, we present a mechanical design of a four degrees of freedom (DOF) wheelchair mounted upper limb exoskeleton. The design takes advantage of non-backdrivable mechanism that can hold the output position without energy consumption and provide assistance to the completely paralyzed users. Moreover, a PD-based trajectory tracking control is implemented to enhance the performance of human exoskeleton system for two different tasks. Preliminary results are provided to show the effectiveness and reliability of using the proposed design for physically disabled people.
- Subjects
ROBOTIC exoskeletons; PEOPLE with disabilities; ACTIVITIES of daily living; DEGREES of freedom; ENERGY consumption
- Publication
Applied Sciences (2076-3417), 2021, Vol 11, Issue 13, p5865
- ISSN
2076-3417
- Publication type
Article
- DOI
10.3390/app11135865