Two-Dof Upper Limb Rehabilitation Robot Driven by Straight Fibers Pneumatic Muscles

被引：4
|
作者：
Durante, Francesco [1 ]
Raparelli, Terenziano [2 ]
Zobel, Pierluigi Beomonte [1 ]
机构：
[1] Univ Aquila, Dept Ind & Informat Engn & Econ DIIIE, Ple Pontieri 1, I-67100 Laquila, Italy
[2] Politecn Torino, Dept Mech & Aerosp Engn DIMEAS, Corso Duca Abruzzi 24, I-10129 Turin, Italy
来源：
BIOENGINEERING-BASEL | 2022年 / 9卷 / 08期
关键词：
rehabilitation robot; upper limb; straight fibres pneumatic muscle; fuzzy control;
D O I：
10.3390/bioengineering9080377
中图分类号：
Q81 [生物工程学（生物技术）]; Q93 [微生物学];
学科分类号：
071005 ; 0836 ; 090102 ; 100705 ;
摘要：
In this paper, the design of a 2-dof (degrees of freedom) rehabilitation robot for upper limbs driven by pneumatic muscle actuators is presented. This paper includes the different aspects of the mechanical design and the control system and the results of the first experimental tests. The robot prototype is constructed and at this preliminary step a position and trajectory control by fuzzy logic is implemented. The pneumatic muscle actuators used in this arm are designed and constructed by the authors' research group.
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页数：19
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