In this paper, the exoskeleton robot is first briefly introduced, the mathematical model for the upper limb exoskeleton robot and the force and position double-closed-loop control system are discussed. Then the authors discuss the type design of all sectors for the control system, and the various components of the system are given. Lastly, through the use of Matlab’s Simulink software, the simulation of the upper limb exoskeleton robot is carried out and the response characteristics of the brushless DC motor PID control system are analyzed. The results show that the use of the PID control system has good characteristics of fast responsibility and stable signal output.

Категория: Ищем научные статьи | Нет комментариев »

In this paper, a new type of master finger in exoskeleton type has been developed to implement master-slave operation for DLR/HIT dexterous hand. The finger has three novel characteristics. Firstly, the exoskeleton mechanism uses ldquofour-bar mechanism jointrdquo, which rotates about an instant center that coincides with joint center of operator’s finger. Secondly, the master finger can distinguish the contact and non-contact mode. The two modes enable free motion and natural contact sensation between operator and master finger respectively. Thirdly, the master finger can exert forces in the direction of extension and flexion because it can make active motion in the two directions. In order to assure faster data transmission and near zero delay in master-slave operation, a digital signal processing/field programmable gate array (DSP/FPGA-FPGA) structure is proposed to control the master finger. The kernel of the hardware system consists of a peripheral component interface (PCI)-based DSP/FPGA board configured as high-level and a FPGA board configured as low-level. By utilizing low-voltage differential signaling (LVDS) serial data bus and PCI bus, the high-level can communicate with the low-level and PC. Using the principle of Virtual work, the relationship between driving torque and the force acting at the tip of master finger is acquired and validated by an experiment conducted to the operation of master finger and DLR/HIT dexterous finger. Experimental results also demonstrate that the master finger can augment telepresence.

Категория: Ищем научные статьи | 1 Комментарий »

A control methodology is developed for modulating shoulder impedance in an arm exoskeleton during physical therapy. Setting the remote center of compliance at the shoulder will allow the exoskeleton to enact resistance training protocols that strengthen the rotator cuff and other joint musculature supporting the shoulder complex. The rotational kinematics for the shoulder are first derived, and then the torques applied at the shoulder are estimated using force sensors placed at the hand and elbow interfaces. Impedance and admittance control schemes are both developed for realizing isolateral strengthening exercises, and some preliminary experimental results are presented for implementation on an arm exoskeleton currently under development.

Категория: Ищем научные статьи | Нет комментариев »

This paper presents the development of SAM, the Sensoric Arm Master, a 7-DOF portable exoskeleton with integrated actuation and sensors. Local joint control is implemented to improve performances of the device. Some experiments have been conducted with the system to show the functionality of the exoskeleton device linked to a virtual reality.

Категория: Ищем научные статьи | Нет комментариев »

Минувшим летом Министерство образования и науки объявило конкурсы на реализацию экзотичных хайтековских проектов. Роботы-манипуляторы, «Экзоскелет», движок для создания сверхреалистичных 3D-пространств. На десяток подобных лотов потратят более 1,3 млрд рублей. Обсудить смысл заказов удалось с членом-корреспондентом РАН Олегом Нарайкиным, главой научно-технического совета по проблеме нанотехнологий и наноматериалов Минобрнауки.

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Категория: ПАК Экзоскелетон | Нет комментариев »