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Development and Implementation of a Control System for Minimum Interaction Force between Human and Lower Limb Exoskeleton

Zibafar, Ahmad | 2015

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 48123 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Vossoughi, Gholamreza
  7. Abstract:
  8. Nowadays exoskeltons are developed because of improvements carried out in mechatronic technologies, to use in applications such as human rehabilitation and power augmentation. By reason of interaction between exoskeleton robot and human, an appropriate control strategy should be considered to implement regulated interaction force between them. As an example there are situations that a person wants to carry heavy load with this robot without suffering from weight of the load, so control of robot movements is of great importance. The aim of this thesis is dedicated to develop and implement a control strategy achieving minimum ineraction force in a 2 degree of freedom lower limb exoskeleton. This lead to movement of human and robot with low impedance. Another prespect of this thesis is identification of manufactured robot because any model based control law need a proper model of system. Toward this goal, design and manufacturing of the robot is considerd in our group and beside fabricating of mechanical parts, implementation of electronic hardwares such as: driver, motor, DAQ, sensors and so on has been accomplished. Also every endeavor has been made to creat a proper software platform to realize real time control loops. After this identification of series elastic actuator of robot investiged by LLNF NARX method and inertial parameters of the links have been considered. Following this, development of control strategy has been done and outcomes have been studied on a simulation platform composed of decision making model of human, skeletal model of human and robot and at last interaction modeling between them. Finally the control strategy has been implemented in manufactured robot and actual results show suitable consequences based on thesis goals
  9. Keywords:
  10. Identification ; Lower Limbs ; Exoskeleton ; System Identification ; Interaction Force Control ; Human and Robot Simulation Platform ; Zero Impedance Control

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