Dynamic Modeling and Motion Control of a Cable-Driven Robotic Exoskeleton with Pneumatic Artificial Muscle Actuators

Chun Ting Chen, Wei Yuan Lien, Chun Ting Chen, Ming Jenq Twu, Yu Cheng Wu

研究成果: 雜誌貢獻文章

摘要

This paper presents the design, dynamic modeling and motion control of a novel cable-driven upper limb robotic exoskeleton for a rehabilitation exercising. The proposed four degree-of-freedom robotic exoskeleton, actuated by pneumatic artificial muscle actuators, is characterized by a safe, compact, and lightweight structure, complying with the motion of an upper limb as close as possible. In order to perform a passive rehabilitation exercise, the dynamic models were developed by the Lagrange formulation in terms of quasi coordinates combined with the virtual work principle, and then the adaptive fuzzy sliding mode control was designed for the rehabilitation trajectory control. Finally, rehabilitation experiments were conducted to validate the prototype of upper limb robotic exoskeleton and the controller design.

原文英語
文章編號9167205
頁(從 - 到)149796-149807
頁數12
期刊IEEE Access
8
DOIs
出版狀態已發佈 - 2020

ASJC Scopus subject areas

  • Computer Science(all)
  • Materials Science(all)
  • Engineering(all)

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