Soft Elbow Exoskeleton for Upper Limb Assistance Incorporating Dual Motor-Tendon Actuator
| Autor: | Wahyu Caesarendra, Farika T. Putri, Rifky Ismail, Rizal Adirianto, Inri A. Perkasa, Adam Glowacz, Mochammad Ariyanto |
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| Rok vydání: | 2019 |
| Předmět: |
musculoskeletal diseases
0209 industrial biotechnology Computer Networks and Communications Computer science flexion/extension Elbow 0211 other engineering and technologies lcsh:TK7800-8360 02 engineering and technology Wrist 020901 industrial engineering & automation medicine Electrical and Electronic Engineering Simulation 021101 geological & geomatics engineering lcsh:Electronics musculoskeletal system pronation/supination Tendon Exoskeleton dual motor-tendon actuator PI control body regions Mechanism (engineering) medicine.anatomical_structure Hardware and Architecture Control and Systems Engineering elbow soft exoskeleton Signal Processing Linear motion Pronation supination Upper limb Actuator Range of motion human activities |
| Zdroj: | Electronics Volume 8 Issue 10 Electronics, Vol 8, Iss 10, p 1184 (2019) |
| ISSN: | 2079-9292 |
| DOI: | 10.3390/electronics8101184 |
| Popis: | Loss of muscle functions, such as the elbow, can affect the quality of life of a person. This research is aimed at developing an affordable two DOF soft elbow exoskeleton incorporating a dual motor-tendon actuator. The soft elbow exoskeleton can be used to assist two DOF motions of the upper limb, especially elbow and wrist movements. The exoskeleton is developed using fabric for the convenience purpose of the user. The dual motor-tendon actuator subsystem employs two DC motors coupled with lead-to-screw converting motion from angular into linear motion. The output is connected to the upper arm hook on the soft exoskeleton elbow. With this mechanism, the proposed actuator system is able to assist two DOF movements for flexion/extension and pronation/supination motion. Proportional-Integral (PI) control is implemented for controlling the motion. The optimized value of Kp and Ki are 200 and 20, respectively. Based on the test results, there is a slight steady-state error between the first and the second DC motor. When the exoskeleton is worn by a user, it gives more steady-state errors because of the load from the arm weight. The test results demonstrate that the proposed soft exoskeleton elbow can be worn easily and comfortably by a user to assist two DOF for elbow and wrist motion. The resulted range of motion (ROM) for elbow flexion&ndash extension can be varied from 90° to 157° whereas the maximum of ROM that can be achieved for pronation and supination movements are 19° and 18° respectively. |
| Databáze: | OpenAIRE |
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