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.

http://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.

http://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

http://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.

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

Source: BURO EPrints