NDLI: Development of a 4 DOF exoskeleton robot for elbow and wrist rehab

Content Provider	IEEE Xplore Digital Library
Author	Hyun Soo Woo Jang Ho Cho Chul Seung Kim Hyuk Jin Lee
Copyright Year	2014
Description	Author affiliation: Daegu Res. Center for Med. Devices & Rehab. Eng., Korea Inst. of Machinery & Mater., Daegu, South Korea (Hyun Soo Woo; Jang Ho Cho; Chul Seung Kim; Hyuk Jin Lee)
Abstract	It is important to control impedance between a patient and a robot to maximize the effect of the robot rehabilitation therapy. This paper presents a 4 DOF exoskeleton robot for elbow and wrist rehabilitation, which includes a unified actuator module per each joint. The unified actuator module consists of a frameless motor, an incremental encoder, an absolute encoder, a harmonic drive, a torque sensor, and a motor controller. The interaction force between a patient and the robot can be computed based on the torque signal of each joint. This enables us to design impedance controller to implement proper impedance to the patient. All the components of the unified actuator module were carefully selected to minimize overall weight and size. A second-order state-space model for the unified actuator module is developed via experiments. A $H_{2}$ optimal controller was designed based on the state-space model.
Starting Page	304
Ending Page	306
File Size	735916
Page Count	3
File Format	PDF
ISSN	20937121
e-ISBN	9788993215076
DOI	10.1109/ICCAS.2014.6988008
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-22
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Control, Robotics and Systems (ICROS)
Subject Keyword	Shafts Wrist Rehabilitation robot Impedance Mathematical model Elbow Unified actuator module Robots Read only memory Equations H2 optimal control
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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