4 DOF Exoskeleton Robotic Arm System for Rehabilitation and Training

被引：2

作者：

Charoenseang, Siam ^{[1
]}

Panjan, Sarut ^{[2
]}

机构：

[1] King Mongkuts Univ Technol Thonburi, Inst Field Robot FIBO, Bangkok 10140, Thailand

[2] King Mongkuts Univ Technol North Bangkok, Dept Teacher Training Elect Engn, Ind Robot Res & Dev Ctr, Bangkok 10800, Thailand

来源：

DIGITAL HUMAN MODELING: APPLICATIONS IN HEALTH, SAFETY, ERGONOMICS, AND RISK MANAGEMENT | 2018年 / 10917卷

关键词：

Exoskeleton; Rehabilitation; Force control; EMG based control; Admittance control;

D O I：

10.1007/978-3-319-91397-1_13

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a rehabilitation and training system with 4 DOF exoskeleton robotic arm. This proposed system can record a posture of physiotherapist and playback that posture to the patients. For the posture playback, the exoskeleton arm's motion was controlled with the recorded gesture and adjusted the level of an assistive motion. The GRNN method was used for predicting the static gravity compensation of each joint with accuracy of 94.66%, 97.63%, 87.02%, and 97.32%, respectively. Hence, the exact system modelling was not required in this system. The force controller with admittance control method was applied to control this exoskeleton robotic arm. The results of the usability test showed that the proposed system had an ability to enhance the muscle's strength and indicated that the purposed exoskeleton arm could be applied to the rehabilitation or training task.

引用

页码：147 / 157

页数：11

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