Dynamics and Control of a 4-dof Wearable Cable-driven Upper Arm Exoskeleton.

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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Abstract

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:Faculty of Science and Technology
ID Code:10701
Deposited By:Dr Venky Dubey
Deposited On:15 Sep 2009 20:58
Last Modified:10 Sep 2014 15:45

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