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Design Of a 3 DOF Robotic Exoskeleton With EMG Based Controller fFor Human Shoulder Joint

Soleymani, Mohammad Ali | 2016

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 49151 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Zohoor, Hassan
  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 five degrees of freedom in order to help the flexion/extension and abduction/adduction shoulder. Dynamic and kinematic model of elbow, forearm, and wrist is developed to determine the amounts of torques which are required in the joint actuators mounted on the robot. Furthermore, various kinds of mechanisms incorporated in rehabilitation robots are investigated and their advantages and drawbacks are compared. One of them is chosen, and eventually a new mechanism is designed and fabricated. Then, some conventional control systems are studied and a new modified control algorithm is presented and implemented in the robot. Subsequently, the required motors and sensors are selected and assembled to the built the mechanism. Finally, experiments were conducted to verify the performance of the robot and the controller
  9. Keywords:
  10. Exoskeleton ; Wearable Assistive Device ; Three-Degree of Freedom Robot ; Control Algorithm ; Biomechanical Modeling

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