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Motion control of a novel robotic wrist exoskeleton via pneumatic muscle actuators
Department of Electrical and Computer Science, University of Patras.ORCID-id: 0000-0002-9399-7801
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.ORCID-id: 0000-0003-0126-1897
Department of Electrical and Computer Engineering, University of Patras.
2015 (Engelska)Ingår i: Proceedings of 2015 IEEE 20th International Conference on Emerging Technologies & Factory Automation (ETFA 2015): Luxembourg, 8-11 Sept. 2015, Piscataway, NJ: IEEE Communications Society, 2015, artikel-id 7301464Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

In this article, the motion control problem of a robotic EXOskeletal WRIST (EXOWRIST) prototype is considered. This novel robotic appliance’s motion is achieved via pneumatic muscle actuators, a pneumatic form of actuation possessing crucial attributes for the development of an exoskeleton that is safe, reliable, portable and low-cost. The EXOWRIST’s properties are presented in detail and compared to the recent wrist exoskeleton technology, while its two degrees- of-freedom movement capabilities (extension-flexion, ulnar- radial deviation) are experimentally evaluated on a healthy human volunteer via an advanced nonlinear PID-based control algorithm.

Ort, förlag, år, upplaga, sidor
Piscataway, NJ: IEEE Communications Society, 2015. artikel-id 7301464
Serie
I E E E International Conference on Emerging Technologies and Factory Automation. Proceedings, ISSN 1946-0740
Nyckelord [en]
Information technology - Automatic control
Nyckelord [sv]
Informationsteknik - Reglerteknik
Nationell ämneskategori
Reglerteknik
Forskningsämne
Reglerteknik
Identifikatorer
URN: urn:nbn:se:ltu:diva-35359Lokalt ID: 9de4331e-e6c1-4cb1-ba5c-3119365511d9ISBN: 978-1-4673-7929-8 (digital)OAI: oai:DiVA.org:ltu-35359DiVA, id: diva2:1008612
Konferens
IEEE International Conference on Emerging Technologies and Factory Automation : 08/09/2015 - 11/09/2015
Anmärkning
Validerad; 2016; Nivå 1; 20150622 (geonik)Tillgänglig från: 2016-09-30 Skapad: 2016-09-30 Senast uppdaterad: 2017-12-18Bibliografiskt granskad

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Andrikopoulos, GeorgiosNikolakopoulos, George

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