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

*此作品的通信作者

研究成果: 雜誌貢獻期刊論文同行評審

2 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
文章編號106
頁(從 - 到)1-19
頁數19
期刊Actuators
9
發行號4
DOIs
出版狀態已發佈 - 2020 十二月

ASJC Scopus subject areas

  • 控制與系統工程
  • 控制和優化

指紋

深入研究「Implementation of an upper-limb exoskeleton robot driven by pneumatic muscle actuators for rehabilitation」主題。共同形成了獨特的指紋。

引用此