Elbow joint rehabilitation equipment actuated by pneumatic muscles
نویسندگان
چکیده
منابع مشابه
Hierarchical Compliance Control of a Soft Ankle Rehabilitation Robot Actuated by Pneumatic Muscles
Traditional compliance control of a rehabilitation robot is implemented in task space by using impedance or admittance control algorithms. The soft robot actuated by pneumatic muscle actuators (PMAs) is becoming prominent for patients as it enables the compliance being adjusted in each active link, which, however, has not been reported in the literature. This paper proposes a new compliance con...
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The power to weight ratio of the actuators is an important design factor for running robots. In this regard pleated pneumatic artificial muscles are excellent actuators. Another advantage is that they can actuate a joint directly, avoiding the additional weight and cost of a gearbox. Obviously the weight of the pressure control valves has to be taken into consideration as well. For this applica...
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This paper presents the design of a biped actuated by Pleated Pneumatic Artificial Muscles. These actuators have a very high power to weight ratio and an inherent adaptable compliance. The mechanical design of the bipedal robot is modular, making parts easy to change and replace. The frame of the robot is made out of a high-grade aluminium alloy. The weight of the machine, all included, is abou...
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High compliant legs are essential for the efficient versatile locomotion and shock absorbency of humans. This study proposes a biped robot actuated by pneumatic artificial muscles to mimic human locomotion. On the basis of the musculoskeletal architecture of human lower limbs, each leg of the biped robot is modeled as a system of three segments, namely, hip joint, knee joint, and ankle joint, a...
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ژورنال
عنوان ژورنال: MATEC Web of Conferences
سال: 2017
ISSN: 2261-236X
DOI: 10.1051/matecconf/20179407010