Mechatronics Design, Modeling and Preliminary Control of a 5 DOF Upper Limb Active Exoskeleton

Abdelkrim Abane, Mohamed Guiatni, Djahid Fekrache, Saad Merouche, Abdelouahab Otmani, Mouloud Tair, Noureddine Ababou

Abstract

In this paper, we present the mechatronics design, modeling and preliminary control of a new 5 degrees of freedom (DoF) exoskeleton, dedicated for the upper limb rehabilitation. The designed exoskeleton allows the shoulder rotations as well as the elbow movements. It combines the advantages of both parallel and serial mechanisms. It has been designed by considering the main factors in designing a general use robotic force-feedback device and the human upper limb specications. This active device, as a kind of haptic device, provides two ways communication in both position and force, and allows patients to interact with the virtual reality system and practice activities of daily living (ADL) assistance. The kinematic model of the exoskeleton is presented. In order to evaluate the performance of the exoskeleton, a preliminary position and torque controllers have been implemented.

References

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Paper Citation


in Harvard Style

Abane A., Guiatni M., Fekrache D., Merouche S., Otmani A., Tair M. and Ababou N. (2016). Mechatronics Design, Modeling and Preliminary Control of a 5 DOF Upper Limb Active Exoskeleton . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 398-405. DOI: 10.5220/0005984203980405


in Bibtex Style

@conference{icinco16,
author={Abdelkrim Abane and Mohamed Guiatni and Djahid Fekrache and Saad Merouche and Abdelouahab Otmani and Mouloud Tair and Noureddine Ababou},
title={Mechatronics Design, Modeling and Preliminary Control of a 5 DOF Upper Limb Active Exoskeleton},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2016},
pages={398-405},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005984203980405},
isbn={978-989-758-198-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Mechatronics Design, Modeling and Preliminary Control of a 5 DOF Upper Limb Active Exoskeleton
SN - 978-989-758-198-4
AU - Abane A.
AU - Guiatni M.
AU - Fekrache D.
AU - Merouche S.
AU - Otmani A.
AU - Tair M.
AU - Ababou N.
PY - 2016
SP - 398
EP - 405
DO - 10.5220/0005984203980405