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

Year 2019, , 119 - 130, 29.01.2019

Erhan Akdoğan

https://doi.org/10.18186/thermal.532267

Cited By: 1

Abstract

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. 

Keywords

Exoskeletal robot, EMG, Biomechatronics

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