Design and modelling of a backbone pneumatic exoskeleton

Author

Rosales, I. ; Lopez, R. ; Aguilar, H. ; Osorio Cordero, A. ; Salazar, S. ; Lozano, Rogelio

Author_Institution

LAFMIA, Cinvestav, Mexico City, Mexico

fYear

2014

fDate

17-19 Oct. 2014

Firstpage

927

Lastpage

933

Abstract

In this paper, preliminary studies are presented to model and design a device that will be part of an exoskeleton actuated by Pneumatic Artificial Muscles (PAM´s). The aim of the device is to assist the user in lifting weights, avoiding backbone lesions. The device increases the strength of the operator. It uses sensors to detect the force to be applied and to detect the position of the user´s trunk. The complete dynamical model of the system consists of the model of a planar robot with 3 rotation joints and the PAM´s model, that is taken from some references. At this stage only the mechanical part of the prototype is adjustable.

Keywords

force control; handicapped aids; medical robotics; pneumatic actuators; position control; robot dynamics; PAM model; backbone lesion avoidance; backbone pneumatic exoskeleton; complete dynamical model; force application; force detection; operator strength; planar robot; pneumatic artificial muscles; rotation joints; sensors; user assistance; user trunk position detection; weight lifting; Exoskeletons; Force; Hip; Joints; Muscles; Sensors; Sociology; Artificial Muscle; Exoskeleton; Pneumatic Assistant;

fLanguage

English

Publisher

ieee

Conference_Titel

System Theory, Control and Computing (ICSTCC), 2014 18th International Conference

Conference_Location

Sinaia

Type

conf

DOI

10.1109/ICSTCC.2014.6982538

Filename

6982538