Title :
Motion control of a novel robotic wrist exoskeleton via pneumatic muscle actuators
Author :
George Andrikopoulos;George Nikolakopoulos;Stamatis Manesis
Author_Institution :
Department of Electrical, Computer and Space Engineering, Luleå
Abstract :
In this article, the motion control problem of a robotic EXOskeletal WRIST (EXOWRIST) prototype is considered. This novel robotic appliance´s motion is achieved via pneumatic muscle actuators, a pneumatic form of actuation possessing crucial attributes for the development of an exoskeleton that is safe, reliable, portable and low-cost. The EXOWRIST´s properties are presented in detail and compared to the recent wrist exoskeleton technology, while its two degrees-of-freedom movement capabilities (extension-flexion, ulnar-radial deviation) are experimentally evaluated on a healthy human volunteer via an advanced nonlinear PID-based control algorithm.
Keywords :
"Wrist","Prototypes","Exoskeletons","Home appliances","Motion control","Actuators","Switches"
Conference_Titel :
Emerging Technologies & Factory Automation (ETFA), 2015 IEEE 20th Conference on
DOI :
10.1109/ETFA.2015.7301464