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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 University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
Department of Electrical and Computer Engineering, University of Patras.
2015 (English)In: 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, article id 7301464Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 2015. article id 7301464
Series
I E E E International Conference on Emerging Technologies and Factory Automation. Proceedings, ISSN 1946-0740
Keyword [en]
Information technology - Automatic control
Keyword [sv]
Informationsteknik - Reglerteknik
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-35359Local ID: 9de4331e-e6c1-4cb1-ba5c-3119365511d9ISBN: 978-1-4673-7929-8 (electronic)OAI: oai:DiVA.org:ltu-35359DiVA, id: diva2:1008612
Conference
IEEE International Conference on Emerging Technologies and Factory Automation : 08/09/2015 - 11/09/2015
Note
Validerad; 2016; Nivå 1; 20150622 (geonik)Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2017-12-18Bibliographically approved

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf