Design of an Anthropomorphic Upper Limb Exoskeleton Actuated by Ball-screws and Cables

نویسندگان

  • Philippe GARREC
  • Philippe Garrec
چکیده

Lucrarea prezintă proiectul lui ABLE, un exoschelet al braţului, integral acţionat de un sistem şurub cu cap sferic şi cablu (SSC, de la sistem cu şurub şi cablu), puternic reversibil, care permite controlul real al momentului în articulaţie fără senzor de forţă. Cinematica unică permite integrarea lui în structură graţie inovaţiilor mecanice speciale, precum articulaţia umărului şi încheietura antebraţului. Rezultatul este o arhitectură deschisă, uşoară, antropomorfică, care evită încorsetarea braţului uman. Sunt prezentate pe scurt proiecte de aplicaţii în: recuperarea medicală, telechirurgie şi interfaţare haptică (RV).

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تاریخ انتشار 2010