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.
引用
收藏
页数：19
相关论文
共 50 条
  • [41] Design and Research of 7-DOF upper-limb rehabilitation robot flexible joint
    Ma, Xinpo
    Yang, Qizhi
    Cai, Jing
    Sun, Mengtao
    Song, Junpeng
    IEEE ICARM 2016 - 2016 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM), 2016, : 614 - 619
  • [42] Modeling and Kinematics Analysis of a Novel 5-DOF Upper Limb Exoskeleton Rehabilitation Robot
    Xu, Ningcun
    Peng, Xiwei
    Peng, Liang
    Hou, Zengguang
    Gui, Meijiang
    PROCEEDINGS OF THE 39TH CHINESE CONTROL CONFERENCE, 2020, : 1052 - 1057
  • [43] Design of a 5-DOF Rehabilitation Robot Mechanism for Upper Limb and its Kinematics Analysis
    Lan Zhi
    Li Zhenliang
    Li Ya
    APPLIED MECHANICS AND MECHANICAL ENGINEERING, PTS 1-3, 2010, 29-32 : 293 - 298
  • [44] Development of two Types of 2-DOF Wrist Joint Driven by Pneumatic Artificial Muscles
    Tanaka, Dai
    Kamo, Daichi
    Maehara, Masanori
    Nakamura, Taro
    2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM), 2013,
  • [45] Mechanical Design for a Cable Driven Upper Limb Exoskeleton Prototype Actuated by Pneumatic Rubber Muscles
    Ghobj, Sarah
    Akl, Amal
    El-Farr, Amr
    Ayyash, Mohammad
    Abu-Khalaf, Jumana
    2017 INTERNATIONAL CONFERENCE ON RESEARCH AND EDUCATION IN MECHATRONICS (REM), 2017,
  • [46] An sEMG-Driven Neuromusculoskeletal Model of Upper Limb for Rehabilitation Robot Control
    Peng, Liang
    Hou, Zeng-Guang
    Luo, Lincong
    Peng, Long
    Wang, Weiqun
    Cheng, Long
    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2016, : 1486 - 1491
  • [47] Design and Control of a Cable-Driven Upper Limb Exoskeleton Robot for Rehabilitation
    Ju, Chunqi
    Chen, Zhiquan
    Qin, Hao
    Wang, Xingsong
    Tian, Mengqian
    2023 29TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND MACHINE VISION IN PRACTICE, M2VIP 2023, 2023,
  • [48] A Cable-Driven Robot for Upper Limb Rehabilitation Inspired by the Mirror Therapy
    Tappeiner, Lukas
    Ottaviano, Erika
    Husty, Manfred L.
    COMPUTATIONAL KINEMATICS, 2018, 50 : 174 - 181
  • [49] Velocity Control of an Upper-Limb Cable-Driven Rehabilitation Robot
    Li, Xianming
    Yang, Qianqian
    Song, Rong
    2018 IEEE INTERNATIONAL CONFERENCE ON CYBORG AND BIONIC SYSTEMS (CBS), 2018, : 559 - 563
  • [50] Stiffness Analysis of Parallel Cable-Driven Upper Limb Rehabilitation Robot
    Zou, Yupeng
    Wu, Xiangshu
    Zhang, Baolong
    Zhang, Qiang
    Zhang, Andong
    Qin, Tao
    MICROMACHINES, 2022, 13 (02)
12345