外骨骼
计算机科学
机电一体化
控制理论(社会学)
控制工程
运动学
控制系统
动力外骨骼
机器人
执行机构
控制器(灌溉)
扭矩
控制(管理)
工程类
模拟
作者
Abdelkrim Abane,Mohamed Guiatni,Djahid Fekrache,Saad Merouche,Abdelouahab Otmani,Mouloud Tair,Noureddine Ababou
出处
期刊:International Conference on Informatics in Control, Automation and Robotics
日期:2016-07-29
卷期号:: 398-405
被引量:2
标识
DOI:10.5220/0005984203980405
摘要
In this paper, we present the mechatronics design, modeling and preliminary control of a new 5 degrees of
freedom (DoF) exoskeleton, dedicated for the upper limb rehabilitation. The designed exoskeleton allows
the shoulder rotations as well as the elbow movements. It combines the advantages of both parallel and
serial mechanisms. It has been designed by considering the main factors in designing a general use robotic
force-feedback device and the human upper limb specications. This active device, as a kind of haptic device,
provides two ways communication in both position and force, and allows patients to interact with the virtual
reality system and practice activities of daily living (ADL) assistance. The kinematic model of the exoskeleton
is presented. In order to evaluate the performance of the exoskeleton, a preliminary position and torque
controllers have been implemented.
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