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Ecole Militaire Polytechnique, Bordj El Bahri, Hopital Militaire Universitaire Spécialisé and Université des Sciences et Technologie Houari Boumedienne

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1 Papers

Mechatronics Design, Modeling and Preliminary Control of a 5 DOF Upper Limb Active Exoskeleton

Topics: Robot Design, Development and Control; Mechatronics Systems; Engineering Applications

Authors: Abdelkrim Abane ¹ , Mohamed Guiatni ² , Djahid Fekrache ² , Saad Merouche ² , Abdelouahab Otmani ² , Mouloud Tair ³ and Noureddine Ababou ⁴

Affiliations: ¹ Ecole Militaire Polytechnique, Bordj El Bahri, Hopital Militaire Universitaire Spécialisé and Université des Sciences et Technologie Houari Boumedienne, Algeria , ² Ecole Militaire Polytechnique and Bordj El Bahri, Algeria , ³ Hopital Militaire Universitaire Spécialisé, Algeria , ⁴ Université des Sciences et Technologie Houari Boumedienne, Algeria

Digital Object Identifier: 10.5220/0005984203980405

Proceedings of ICINCO 2016, ISBN: 978-989-758-198-4

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In this paper, we present the mechatronics design, modeling and preliminary control of a new 5 degrees of freedom (DoF) exoskeleton, dedicated for the upper limb rehabilitation. The designed exoskeleton allows the shoulder rotations as well as the elbow movements. It combines the advantages of both parallel and serial mechanisms. It has been designed by considering the main factors in designing a general use robotic force-feedback device and the human upper limb specications. This active device, as a kind of haptic device, provides two ways communication in both position and force, and allows patients to interact with the virtual reality system and practice activities of daily living (ADL) assistance. The kinematic model of the exoskeleton is presented. In order to evaluate the performance of the exoskeleton, a preliminary position and torque controllers have been implemented.

Related Ontology Subjects/Areas/Topics (7)

Engineering Applications	Mechatronics Systems	Robotics and Automation
Informatics in Control, Automation and Robotics	Robot Design, Development and Control	Signal Processing, Sensors, Systems Modeling and Control
Intelligent Control Systems and Optimization