loading
Documents

Research.Publish.Connect.

Paper

Authors: Dimitar Chakarov ; Ivanka Veneva ; Mihail Tsveov and Dimitar Trifonov

Affiliation: Institute of Mechanics and BAS, Bulgaria

ISBN: 978-989-758-264-6

Keyword(s): Exoskeleton Arm, Design, Haptic Device, Impedance Control, Pneumatic Muscle, Joint Torque, Antagonistic Interaction, Virtual Gymnastics.

Related Ontology Subjects/Areas/Topics: Human-Robots Interfaces ; Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation

Abstract: In this paper, the design of an exoskeleton for the upper limb is presented, aimed primarily at training and rehabilitation in virtual environments. A mechanical model of the exoskeleton arm as haptic device is built up and impedance control scheme is selected as the most suitable for force reflection at the arm. The design of a grounded exoskeleton prototype is revealed in the paper. A driving system based on braided pneumatic muscle is selected to ensure natural security in the interaction. Antagonistic drive system for each joint is shown, using pulley and Bowden cable transmissions. An approach is presented for the joint moments control by antagonistic interaction of bundles with different numbers of pneumatic muscles. Control scheme of joint torque by antagonistic interaction is given, too. Computer simulations are performed to provide power reflection by virtual reality (VR), according to scenario of virtual gymnastics.

PDF ImageFull Text

Download
Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 3.85.143.239

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Chakarov, D.; Veneva, I.; Tsveov, M. and Trifonov, D. (2017). Design and Control of a Force Reflecting Arm Exoskeleton for Virtual Reality Applications.In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 335-342. DOI: 10.5220/0006427403350342

@conference{icinco17,
author={Dimitar Chakarov. and Ivanka Veneva. and Mihail Tsveov. and Dimitar Trifonov.},
title={Design and Control of a Force Reflecting Arm Exoskeleton for Virtual Reality Applications},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={335-342},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006427403350342},
isbn={978-989-758-264-6},
}

TY - CONF

JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Design and Control of a Force Reflecting Arm Exoskeleton for Virtual Reality Applications
SN - 978-989-758-264-6
AU - Chakarov, D.
AU - Veneva, I.
AU - Tsveov, M.
AU - Trifonov, D.
PY - 2017
SP - 335
EP - 342
DO - 10.5220/0006427403350342

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.