Authors:
Abdelkrim Abane
1
;
Mohamed Guiatni
2
;
Djahid Fekrache
2
;
Saad Merouche
2
;
Abdelouahab Otmani
2
;
Mouloud Tair
3
and
Noureddine Ababou
4
Affiliations:
1
Ecole Militaire Polytechnique, Bordj El Bahri, Hopital Militaire Universitaire Spécialisé and Université des Sciences et Technologie Houari Boumedienne, Algeria
;
2
Ecole Militaire Polytechnique and Bordj El Bahri, Algeria
;
3
Hopital Militaire Universitaire Spécialisé, Algeria
;
4
Université des Sciences et Technologie Houari Boumedienne, Algeria
Keyword(s):
Mechatronics Design, Upper Limb Exoskeleton, Robot Modeling, PD Controller.
Related
Ontology
Subjects/Areas/Topics:
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mechatronics Systems
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
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.