Authors:
Dimitar Chakarov
;
Ivanka Veneva
;
Mihail Tsveov
and
Dimitar Trifonov
Affiliation:
Institute of Mechanics and BAS, Bulgaria
Keyword(s):
Exoskeleton Arm, Design, Haptic Device, Impedance Control, Pneumatic Muscle, Joint Torque, Antagonistic Interaction, Virtual Gymnastics.
Related
Ontology
Subjects/Areas/Topics:
Human-Robots Interfaces
;
Informatics in Control, Automation and Robotics
;
Modeling, Simulation and Architectures
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
In this paper, the design of an exoskeleton for the upper limb is presented, aimed primarily at training and rehabilitation in virtual environments. A mechanical model of the exoskeleton arm as haptic device is built up and impedance control scheme is selected as the most suitable for force reflection at the arm. The design of a grounded exoskeleton prototype is revealed in the paper. A driving system based on braided pneumatic muscle is selected to ensure natural security in the interaction. Antagonistic drive system for each joint is shown, using pulley and Bowden cable transmissions. An approach is presented for the joint moments control by antagonistic interaction of bundles with different numbers of pneumatic muscles. Control scheme of joint torque by antagonistic interaction is given, too. Computer simulations are performed to provide power reflection by virtual reality (VR), according to scenario of virtual gymnastics.