Evaluation of the Capabilities of a Hybrid Driven Exoskeleton in Passive Mode of Interaction

Dimitar Chakarov, Ivanka Veneva, Pavel Venev, Mihail Tsveov

2021

Abstract

A new construction of upper limbs exoskeleton with hybrid drive was studied in this work. The paper presents mechanical structure and actuation of exoskeleton with hybrid drive including pneumatic cylinders and electric motors. In order to evaluate the transparency and safety, the capabilities of the exoskeleton in passive mode of interaction was estimated. A model of the interaction force between the patient and the exoskeleton arm in passive mode was built. The model was based on harmonious movements imposed in one joint of the exoskeleton arm. Experiments and simulations were performed to assess the interaction force between the patient and the exoskeleton because of the mechanical impedance of the device. The force of interaction was obtained from passive forces, such as inertial, frictional and gravitational forces, as well as from the elasticity of the pneumatics. The patient-initiated harmonic motion was studied in two cases-without pressure in the chambers and with pressure for gravity compensation. The results where demonstrated graphically. Conclusions where made about the behavior of the exoskeleton in the passive mode of interaction.

Paper Citation

in Harvard Style

Chakarov D., Veneva I., Venev P. and Tsveov M. (2021). Evaluation of the Capabilities of a Hybrid Driven Exoskeleton in Passive Mode of Interaction. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-522-7, pages 442-449. DOI: 10.5220/0010569004420449

in Bibtex Style

@conference{icinco21,
author={Dimitar Chakarov and Ivanka Veneva and Pavel Venev and Mihail Tsveov},
title={Evaluation of the Capabilities of a Hybrid Driven Exoskeleton in Passive Mode of Interaction},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2021},
pages={442-449},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010569004420449},
isbn={978-989-758-522-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Evaluation of the Capabilities of a Hybrid Driven Exoskeleton in Passive Mode of Interaction
SN - 978-989-758-522-7
AU - Chakarov D.
AU - Veneva I.
AU - Venev P.
AU - Tsveov M.
PY - 2021
SP - 442
EP - 449
DO - 10.5220/0010569004420449