Brackbill, E.A., Mao, Y., Agrawal, S.K., Annapragada, M. and Dubey, V. N., 2009. Dynamics and Control of a 4-dof Wearable Cable-driven Upper Arm Exoskeleton. In: IEEE ICRA2009: International Conference on Robotics and Automation, 12-17 May 2009, Kobe, Japan.
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In this paper, we present the dynamics, control, and preliminary experiments on a wearable upper arm exoskeleton intended for human users with four degrees-of-freedom (dof), driven by six cables. The control of this cable-driven exoskeleton is complicated because the cables can transmit forces to the arm only under tension. The standard PD controllers or Computed torque controllers perform only moderately since the cables need to be in tension. Future efforts will seek to refine these control strategies and their implementations to improve functionality of a human user.
|Item Type:||Conference or Workshop Item (Paper)|
|Uncontrolled Keywords:||Rehabilitation Robotics|
|Subjects:||Technology > Engineering > General Engineering|
|Group:||School of Design, Engineering & Computing > Smart Technology Research Centre|
|Deposited By:||Dr Venky Dubey|
|Deposited On:||15 Sep 2009 20:58|
|Last Modified:||07 Mar 2013 15:11|
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