Dynamics and control of a 4-dof wearable cable-driven upper arm exoskeleton
Authors: Brackbill, E.A., Mao, Y., Agrawal, S.K., Annapragada, M. and Dubey, V.N.
Journal: Proceedings - IEEE International Conference on Robotics and Automation
Pages: 2300-2305
ISBN: 9781424427895
ISSN: 1050-4729
DOI: 10.1109/ROBOT.2009.5152545
Abstract: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.
https://eprints.bournemouth.ac.uk/10701/
Source: Scopus
Dynamics and Control of a 4-dof Wearable Cable-driven Upper Arm Exoskeleton
Authors: Brackbill, E.A., Mao, Y., Agrawal, S.K., Annapragada, M. and Dubey, V.N.
Conference: IEEE ICRA2009: International Conference on Robotics and Automation
Dates: 12-17 May 2009
Abstract: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.
https://eprints.bournemouth.ac.uk/10701/
Source: Manual
Preferred by: Venky Dubey
Dynamics and control of a 4-dof wearable cable-driven upper arm exoskeleton.
Authors: Brackbill, E.A., Mao, Y., Agrawal, S.K., Annapragada, M. and Dubey, V.N.
Journal: ICRA
Pages: 2300-2305
Publisher: IEEE
https://eprints.bournemouth.ac.uk/10701/
http://www.informatik.uni-trier.de/~ley/db/conf/icra/icra2009.html
Source: DBLP
Dynamics and Control of a 4-dof Wearable Cable-driven Upper Arm Exoskeleton
Authors: Brackbill, E.A., Mao, Y., Agrawal, S.K., Annapragada, M. and Dubey, V.N.
Conference: IEEE ICRA2009: International Conference on Robotics and Automation
Abstract: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.
https://eprints.bournemouth.ac.uk/10701/
Source: BURO EPrints