Implementation of an upper-limb exoskeleton robot driven by pneumatic muscle actuators for rehabilitation

Chun Ta Chen, Wei Yuan Lien, Chun Ta Chen, Yu Cheng Wu

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)

Abstract

Implementation of a prototype of a 4-degree of freedom (4-DOF) upper-limb exoskeleton robot for rehabilitation was described in this paper. The proposed exoskeleton robot has three DOFs at the shoulder joint and one DOF at the elbow joint. The upper-limb exoskeleton robot is driven by pneumatic muscle actuators (PMA) via steel cables. To implement the passive rehabilitation control, the rehabilitation trajectories expressed in the Fourier series were first planned by the curve fitting. The fuzzy sliding mode controller (FSMC) was then applied to the upper-limb exoskeleton robot for rehabilitation control. Several rehabilitation scenarios were carried out to validate the designed PMA-actuated exoskeleton robot.

Original languageEnglish
Article number106
Pages (from-to)1-19
Number of pages19
JournalActuators
Volume9
Issue number4
DOIs
Publication statusPublished - 2020 Dec

Keywords

  • Exoskeleton robot
  • Fuzzy sliding mode control
  • Pneumatic muscle actuator
  • Rehabilitation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization

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