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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.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
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, 7301464Conference 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. 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
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-35359Local ID: 9de4331e-e6c1-4cb1-ba5c-3119365511d9ISBN: 978-1-4673-7929-8 (PDF)OAI: oai:DiVA.org:ltu-35359DiVA: 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: 2016-09-30Bibliographically approved

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