Design of Upper Limb Assistive Device Using a Pneumatic Cylinder
نویسندگان
چکیده
This paper describes the design of a device to support a patient’s upper limb motion. For safety, light weight, and flexibility, it uses a pneumatic cylinder for which the optimum arrangement is presented. This independencesupporting device has two modes corresponding to livelihood support and rehabilitation. Based on human motion, a compliance control system and a position control system are designed for those modes. As described herein, we evaluate the independence-support mode effectiveness through experimentation.
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