DYNAMIC MODELING AND EVALUATION OF A ROBOTIC EXOSKELETON FOR UPPER-LIMB REHABILITATION
- Тип контента: Научная статья
- Номер документа: 3594
- Название документа: DYNAMIC MODELING AND EVALUATION OF A ROBOTIC EXOSKELETON FOR UPPER-LIMB REHABILITATION
- Номер (DOI, IBSN, Патент): 10.1142/S0219878911002367
- Изобретатель/автор: Thierry Kittel-Ouimet, Saad, M., Rahman, M.H., Kenne, J.P., Archambault, P.S.
- Правопреемник/учебное заведение: School of Physical & Occupational Therapy, McGill University, Montreal, Canada
- Дата публикации документа: 2011-01-01
- Страна опубликовавшая документ: Канада
- Язык документа: Английский
- Наименование изделия: Не заполнено
- Источник: http://www.worldscinet.com/ijia/08/0801/S0219878911002367.ht
- Вложения: Нет
- Аналитик: Helix
Proper functioning of the shoulder, elbow, and wrist movements play a vital role in the performance of essential daily activities. To assist physically disabled people with impaired upper-limb function, we have been developing an exoskeleton robot (ExoRob) to rehabilitate and to ease upper limb motion. The proposed ExoRob will be comprised of seven degrees of freedom (DOFs) to enable natural movements of the human upper-limb. This paper focuses on the kinematic and dynamic modeling of the proposed ExoRob that corresponds to human upper-limbs. For this purpose, a nonlinear computed torque control technique was employed. In simulations, trajectory tracking corresponding to typical rehabilitation exercises were carried out to evaluate the performances of the developed model and controller. For the experimental part, only 3DOFs (elbow, wrist flexion/extension, wrist abduction/adduction) were considered. Simulated and experimental results show that the controller was able to maneuver the proposed ExoRob efficiently in order to track the desired trajectories, which in this case consisted in passive arm movements. Such movements are widely used in therapy and were performed efficiently with the developed ExoRob and the controller.
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