Pneumatic Muscle Actuated Robotized Arm for Rehabilitation Systems
نویسنده
چکیده
The utilization of pneumatic muscles in the actuation of robotized systems is still in its early stages, hence the requirement of a study of such constructive solutions. Consequently the paper presents the constructive solution and performance of a robotized arm actuated by pneumatic muscles. This system is mounted on a wheelchair for persons with locomotive disabilities. The main reason underlying the discussion of this specific system is a special property of compressed air, known as compliance, that allows a favourable response to commands of the actuated elements. Thus it is compliance that ensures a soft contact as well as safety of the human operator in interacting with operating equipment.
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