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Control of Exoskeletal System in Coordination with Upper Extremity System

Ghassemi, Mohammad | 2014

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 45948 (05)
  4. University: Sharif University of Technology
  5. Department: Electrical Engineering
  6. Advisor(s): Jahed, Mehran
  7. Abstract:
  8. With technological advances in fabrication and control of prosthesis and assistive devices the importance of such systems has increased drastically. On the other hand the appropriate coupling of these devices, especially the exoskeletal systems with the upper or lower extremities is of immense importance as it is an integral part of the control system. In particular, the control strategy and its ability to adapt the exoskeletal system with the existing and physiological functionality of the user, is an integral part of the system requirement. In the controller implementation, a number of methods are proposed including using the excitation signal, similar to the existing neuromuscular system. However as the control system of such exoskeletal structures does not consider the complexity of the adjacent neuromuscular system and its intrinsic control system, it may not fully comply with its counterpart. In fact, due to the varying nature of the neuromuscular systemsfordifferent users,such exoskeletal controllers are not practically feasible in comprehensive functionalities. The goal of this research is to develop a reliable model of neuromuscular and musculoskeletal systems and its coupling with the exoskeleton system. Based on this model, proper controllers for the exoskeleton as an aiding device for the upper extremity are proposed. The proposed musculoskeletal model includes musculotendon dynamics, musculoskeletal geometry, and linkage dynamics. This model uses the activation of muscles as an input to the controller, in order to calculate the desired position and required motion of the exoskeleton. This information is then utilized by the exoskeletal controller which includes proposed Basic Lyapanov and Impedance controllers as the most suitable strategies in such effort
  9. Keywords:
  10. Exoskeleton ; Muscular Model ; Musculoskeletal System ; Robot Control ; Electromyography ; Upper Limb

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