Dynamics and control of a 4-dof wearable cable-driven upper arm exoskeleton

This source preferred by Venky Dubey

Authors: Brackbill, E.A., Mao, Y., Agrawal, S.K., Annapragada, M. and Dubey, V.N.

http://eprints.bournemouth.ac.uk/10701/

Start date: 12 May 2009

In this paper, we present the dynamics, control, and preliminary experiments on a wearable upper arm exoskeleton intended for human users with four degrees-of-freedom (dof), driven by six cables. The control of this cable-driven exoskeleton is complicated because the cables can transmit forces to the arm only under tension. The standard PD controllers or Computed torque controllers perform only moderately since the cables need to be in tension. Future efforts will seek to refine these control strategies and their implementations to improve functionality of a human user.

This data was imported from DBLP:

Authors: Brackbill, E.A., Mao, Y., Agrawal, S.K., Annapragada, M. and Dubey, V.N.

http://eprints.bournemouth.ac.uk/10701/

http://www.informatik.uni-trier.de/~ley/db/conf/icra/icra2009.html

Journal: ICRA

Pages: 2300-2305

Publisher: IEEE

DOI: 10.1109/ROBOT.2009.5152545

This data was imported from Scopus:

Authors: Brackbill, E.A., Mao, Y., Agrawal, S.K., Annapragada, M. and Dubey, V.N.

http://eprints.bournemouth.ac.uk/10701/

Journal: Proceedings - IEEE International Conference on Robotics and Automation

Pages: 2300-2305

ISBN: 9781424427895

ISSN: 1050-4729

DOI: 10.1109/ROBOT.2009.5152545

In this paper, we present the dynamics, control, and preliminary experiments on a wearable upper arm exoskeleton intended for human users with four degrees-of-freedom (dof), driven by six cables. The control of this cable-driven exoskeleton is complicated because the cables can transmit forces to the arm only under tension. The standard PD controllers or Computed torque controllers perform only moderately since the cables need to be in tension. Future efforts will seek to refine these control strategies and theirimplementations to improve functionality of a human user. © 2009 IEEE.

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