Design and Control of a Force Reflecting Arm Exoskeleton for Virtual Reality Applications

Dimitar Chakarov, Ivanka Veneva, Mihail Tsveov, Dimitar Trifonov

2017

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.

Paper Citation

in Harvard Style

Chakarov D., Veneva I., Tsveov M. and Trifonov D. (2017). Design and Control of a Force Reflecting Arm Exoskeleton for Virtual Reality Applications . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 335-342. DOI: 10.5220/0006427403350342

in Bibtex Style

@conference{icinco17,
author={Dimitar Chakarov and Ivanka Veneva and Mihail Tsveov and Dimitar Trifonov},
title={Design and Control of a Force Reflecting Arm Exoskeleton for Virtual Reality Applications},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={335-342},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006427403350342},
isbn={978-989-758-264-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Design and Control of a Force Reflecting Arm Exoskeleton for Virtual Reality Applications
SN - 978-989-758-264-6
AU - Chakarov D.
AU - Veneva I.
AU - Tsveov M.
AU - Trifonov D.
PY - 2017
SP - 335
EP - 342
DO - 10.5220/0006427403350342