Year 2019, Volume 5 , Issue 2, Pages 119 - 130 2019-01-29

DESIGN, PRODUCE AND CONTROL OF A 2-DOF UPPER LIMB EXOSKELETAL ROBOT

Erhan AKDOĞAN [1]


Exoskeletal robots are used as high-tech products in the military, health and industrial applications. The integration of robots and humans offers new opportunities for the creation of new assistive technologies that can be used in biomedical, industrial and military applications. This paper presents the mechanical design, modeling and simulation of 2 degrees of freedom (DOF) upper limb exoskeletal robot.  The system can be used both for supporting load lifting and for rehabilitation of upper limbs. A load cell was used to measure the applied load.  Encoders were used to measure the shoulder and elbow joint angles. An electromyograph was developed to measure muscular activation. In this study, simulation was conducted with the PID position control, however the system hardware is applicable for a force control architecture. 

Exoskeletal robot, EMG, Biomechatronics
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Primary Language en
Journal Section Articles
Authors

Author: Erhan AKDOĞAN

Dates

Publication Date : January 29, 2019

Bibtex @research article { thermal532267, journal = {Journal of Thermal Engineering}, issn = {}, eissn = {2148-7847}, address = {}, publisher = {Yildiz Technical University}, year = {2019}, pages = {119 - 130}, doi = {10.18186/thermal.532267}, title = {DESIGN, PRODUCE AND CONTROL OF A 2-DOF UPPER LIMB EXOSKELETAL ROBOT}, key = {cite}, author = {Akdoğan, Erhan} }
APA Akdoğan, E . (2019). DESIGN, PRODUCE AND CONTROL OF A 2-DOF UPPER LIMB EXOSKELETAL ROBOT . Journal of Thermal Engineering , Issue Name: Special Issue 9: International Conference on Mechanical Engineering 2017, Istanbul, Turkey , 119-130 . DOI: 10.18186/thermal.532267
MLA Akdoğan, E . "DESIGN, PRODUCE AND CONTROL OF A 2-DOF UPPER LIMB EXOSKELETAL ROBOT" . Journal of Thermal Engineering 5 (2019 ): 119-130 <https://dergipark.org.tr/en/pub/thermal/article/532267>
Chicago Akdoğan, E . "DESIGN, PRODUCE AND CONTROL OF A 2-DOF UPPER LIMB EXOSKELETAL ROBOT". Journal of Thermal Engineering 5 (2019 ): 119-130
RIS TY - JOUR T1 - DESIGN, PRODUCE AND CONTROL OF A 2-DOF UPPER LIMB EXOSKELETAL ROBOT AU - Erhan Akdoğan Y1 - 2019 PY - 2019 N1 - doi: 10.18186/thermal.532267 DO - 10.18186/thermal.532267 T2 - Journal of Thermal Engineering JF - Journal JO - JOR SP - 119 EP - 130 VL - 5 IS - 2 SN - -2148-7847 M3 - doi: 10.18186/thermal.532267 UR - https://doi.org/10.18186/thermal.532267 Y2 - 2018 ER -
EndNote %0 Journal of Thermal Engineering DESIGN, PRODUCE AND CONTROL OF A 2-DOF UPPER LIMB EXOSKELETAL ROBOT %A Erhan Akdoğan %T DESIGN, PRODUCE AND CONTROL OF A 2-DOF UPPER LIMB EXOSKELETAL ROBOT %D 2019 %J Journal of Thermal Engineering %P -2148-7847 %V 5 %N 2 %R doi: 10.18186/thermal.532267 %U 10.18186/thermal.532267
ISNAD Akdoğan, Erhan . "DESIGN, PRODUCE AND CONTROL OF A 2-DOF UPPER LIMB EXOSKELETAL ROBOT". Journal of Thermal Engineering 5 / 2 (January 2019): 119-130 . https://doi.org/10.18186/thermal.532267
AMA Akdoğan E . DESIGN, PRODUCE AND CONTROL OF A 2-DOF UPPER LIMB EXOSKELETAL ROBOT. Journal of Thermal Engineering. 2019; 5(2): 119-130.
Vancouver Akdoğan E . DESIGN, PRODUCE AND CONTROL OF A 2-DOF UPPER LIMB EXOSKELETAL ROBOT. Journal of Thermal Engineering. 2019; 5(2): 119-130.
IEEE E. Akdoğan , "DESIGN, PRODUCE AND CONTROL OF A 2-DOF UPPER LIMB EXOSKELETAL ROBOT", Journal of Thermal Engineering, vol. 5, no. 2, pp. 119-130, Jan. 2019, doi:10.18186/thermal.532267