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Control of an Active Exoskeleton Robot to Assist Human Elbow and Wrist Motion

Hejazi, Mahmoud | 2016

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 49082 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Zohoor, Hassan; Behzadipour, Saeed
  7. Abstract:
  8. Most elderly and physically disabled people suffer from lack of functionality and dexterity in their elbow or wrist. These disabilities are due to the damages mostly caused by sport surgery, spinal surgery, or stroke. Therefore, design of an assistive exoskeleton robot for upper limb movements seems necessary. The purpose of this study is to design, fabricate and deliver a control algorithm for an assistive wearable robot. The robot has two degrees of freedom in order to help the flexion/extension of elbow and wrist. Furthermore, various kinds of control systems incorporated in rehabilitation robots are investigated and their advantages and drawbacks are compared. Then, some conventional control systems are studied and a new modified control algorithm is presented and implemented in the robot. Subsequently, the required sensors are selected and assembled to the built the control system. Two control methods are implemented on robot. First, force sensor based and other EMG sensor based control system. By comparing these two methods we observe that EMG based method is more stable than force sensor based metho. Finally, experiments were conducted to verify the performance of the robot and the controller
  9. Keywords:
  10. Exoskeleton ; Robot Control ; Flexion/Extension ; Elbow ; Electromyogram Signal ; Neural Network ; Assistant Robot ; Wrist

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