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Authors: I. L. Ermolov ; M. M. Knyazkov ; A. N. Sukhanov and A. A. Kryukova

Affiliation: Institute for Problems in Mechanics of the Russian Academy of Sciences, Russian Federation

Keyword(s): Exoskeleton Control, EMG Sensors, Dead Zone Definition, Multibody Dynamics.

Related Ontology Subjects/Areas/Topics: Engineering Applications ; Force and Tactile Sensors ; Industrial Engineering ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Robot Design, Development and Control ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control ; Systems Modeling and Simulation

Abstract: The main goal of this paper is to determine the dead zone of control signal to provide the modes shift in the exoskeleton control system. The kinematic system consists of two subsystems for left and right hands. Each subsystem has 4 DOF and it is controlled individually. The control system for the designed exoskeleton device is based on bioelectric potentials processing. It uses the information about muscular activity to form the rotation speed of exoskeleton drives. The exoskeleton’s servo drive system is based on the feedback technique of acquiring information from the actuators and passing it to the control system via the HMI. The dead zone of control signal allows shifting control modes to let the exoskeleton device running in two modes – the setting speed mode and angle tracking mode. The dead zone of control signal also allows signal noise and positioning error reduction. The proposed idea is the definition of the dead zone as nonlinear function of joint coordinates.

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Paper citation in several formats:
Ermolov, I.; Knyazkov, M.; Sukhanov, A. and Kryukova, A. (2016). The Dead Zone Determination for Exoskeleton Arm with Double Mode Control System. In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-198-4; ISSN 2184-2809, SciTePress, pages 274-279. DOI: 10.5220/0005977302740279

@conference{icinco16,
author={I. L. Ermolov. and M. M. Knyazkov. and A. N. Sukhanov. and A. A. Kryukova.},
title={The Dead Zone Determination for Exoskeleton Arm with Double Mode Control System},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2016},
pages={274-279},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005977302740279},
isbn={978-989-758-198-4},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - The Dead Zone Determination for Exoskeleton Arm with Double Mode Control System
SN - 978-989-758-198-4
IS - 2184-2809
AU - Ermolov, I.
AU - Knyazkov, M.
AU - Sukhanov, A.
AU - Kryukova, A.
PY - 2016
SP - 274
EP - 279
DO - 10.5220/0005977302740279
PB - SciTePress

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