NDLI: Development and control of a Bowden-cable actuated exoskeleton for upper-limb rehabilitation

Content Provider	IEEE Xplore Digital Library
Author	Qingcong Wu Xingsong Wang Fengpo Du Jigang Xu
Copyright Year	2014
Description	Author affiliation: Sch. of Mech. Eng., Southeast Univ., Nanjing, China (Qingcong Wu; Xingsong Wang; Fengpo Du; Jigang Xu)
Abstract	This paper deals with the development and control of an upper limb exoskeleton used for the robotic rehabilitation of stroke patients. Bowden-cable actuators with a high power-weight ratio are applied in the robot system to provide remote power transmission and simplify the mechanical design. The kinematics model of the exoskeleton is analyzed and optimized to eliminate singularities from the desired workplace and achieve natural human-robot interaction. A real-time control system is established in xPC target environment and used to process the feedback signals from the force sensor and potentiometers and execute the control algorithm. An impedance control scheme is developed to provide interactive therapy training to the patients with different disability levels. Preliminary experiments have been carried out in two different training modes to evaluate the performance of the proposed exoskeleton and control approach.
Starting Page	7
Ending Page	12
File Size	1392665
Page Count	6
File Format	PDF
e-ISBN	9781479949267
DOI	10.1109/ROSE.2014.6952975
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-16
Publisher Place	Romania
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Exoskeletons Joints Force Robots Impedance Training Medical treatment impedance control upper-limb exoskeleton rehabilitation kinematics real-time control system
Content Type	Text
Resource Type	Article

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