Modeling and Control of a Cable-Driven Rotary Series Elastic Actuator for an Upper Limb Rehabilitation Robot
نویسندگان
چکیده
منابع مشابه
Modeling and control of a cable-driven series elastic actuator
Series elastic actuators (SEA) are playing an increasingly important role in the fields of physical human-robot interaction. This paper focuses on the modeling and control of a cable-driven SEA. First, the scheme of the cable-driven SEA has been proposed, and a velocity controlled DC motor has been used as its power source. Based on this, the model of the cable-driven SEA has been built up. Fur...
متن کاملImpedance Control of a Rotary Series Elastic Actuator for Knee Rehabilitation
This paper deals with impedance control of a rotary Series Elastic Actuator designed to assist in flexion/extension of the knee joint during physical therapy. The device includes a DC motor, a worm gear and a customized torsion spring. Since the elastic element is the most important component in the actuator design, a finite element analysis is used to meet the specific requirements of knee ass...
متن کاملCable-Driven Robot for Upper and Lower Limbs Rehabilitation
The science of rehabilitation shows that repeated movements of human limbs can help the patient regain function in the injured limb. There are three types of mechanical systems used for movement rehabilitation: robots, cable-driven manipulators, and exoskeletons. Industrial robots can be used because they provide a three-dimensional workspace with a wide range of flexibility to execute differen...
متن کاملA passively safe cable driven upper limb rehabilitation exoskeleton.
BACKGROUND When using upper limb exoskeletons that assist the movement of physically weak people, safety should be the most important index. OBJECTIVE In this paper, a passively safe, cable-driven upper limb exoskeleton with parallel actuated joints, which perfectly mimics human motions, is proposed. METHODS Compared with the existing upper limb exoskeletons which are mostly designed only c...
متن کاملParallel Articulated-cable Exercise Robot (pacer): Novel Home-based Cable-driven Parallel Platform Robot for Upper Limb Neuro-rehabilitation
This paper examines the design, analysis and control of a novel hybrid articulated-cable parallel platform for upper limb rehabilitation in three dimensional space. The proposed lightweight, low-cost, modular reconfigurable parallel-architecture robotic device is comprised of five cables and a single linear actuator which connects a six degrees-of-freedom moving platform to a fixed base. This n...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Frontiers in Neurorobotics
سال: 2020
ISSN: 1662-5218
DOI: 10.3389/fnbot.2020.00013