A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation
Wheelchair mounted upper limb exoskeletons offer an alternative way to support disabled individuals in their activities of daily living (ADL). Key challenges in exoskeleton technology include innovative mechanical design and implementation of a control method that can assure a safe and comfortable i...
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MDPI AG
2021-06-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/13/5865 |
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doaj-b4c9f1ab43844c1d995125386e20b00a2021-07-15T15:29:42ZengMDPI AGApplied Sciences2076-34172021-06-01115865586510.3390/app11135865A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance EvaluationMuhammad Ahsan Gull0Mikkel Thoegersen1Stefan Hein Bengtson2Mostafa Mohammadi3Lotte N. S. Andreasen Struijk4Thomas B. Moeslund5Thomas Bak6Shaoping Bai7Department of Materials and Production, Aalborg University, 9220 Aalborg, DenmarkRehabilitation Engineering and Robotics, Center for Rehabilitation Robotics, Department of Health Science and Technology, Aalborg University, 9220 Aalborg, DenmarkDepartment of Architecture and Media Technology, Aalborg University, 9000 Aalborg, DenmarkRehabilitation Engineering and Robotics, Center for Rehabilitation Robotics, Department of Health Science and Technology, Aalborg University, 9220 Aalborg, DenmarkRehabilitation Engineering and Robotics, Center for Rehabilitation Robotics, Department of Health Science and Technology, Aalborg University, 9220 Aalborg, DenmarkDepartment of Architecture and Media Technology, Aalborg University, 9000 Aalborg, DenmarkDepartment of Electronics Systems, Aalborg University, 9220 Aalborg, DenmarkDepartment of Materials and Production, Aalborg University, 9220 Aalborg, DenmarkWheelchair mounted upper limb exoskeletons offer an alternative way to support disabled individuals in their activities of daily living (ADL). Key challenges in exoskeleton technology include innovative mechanical design and implementation of a control method that can assure a safe and comfortable interaction between the human upper limb and exoskeleton. In this article, we present a mechanical design of a four degrees of freedom (DOF) wheelchair mounted upper limb exoskeleton. The design takes advantage of non-backdrivable mechanism that can hold the output position without energy consumption and provide assistance to the completely paralyzed users. Moreover, a PD-based trajectory tracking control is implemented to enhance the performance of human exoskeleton system for two different tasks. Preliminary results are provided to show the effectiveness and reliability of using the proposed design for physically disabled people.https://www.mdpi.com/2076-3417/11/13/5865wheelchair upper limb exoskeleton robotADL assistancePD controldynamic modeling of an upper limb exoskeletontrajectory trackingwearable exoskeleton |
| collection |
DOAJ |
| language |
English |
| format |
Article |
| sources |
DOAJ |
| author |
Muhammad Ahsan Gull Mikkel Thoegersen Stefan Hein Bengtson Mostafa Mohammadi Lotte N. S. Andreasen Struijk Thomas B. Moeslund Thomas Bak Shaoping Bai |
| spellingShingle |
Muhammad Ahsan Gull Mikkel Thoegersen Stefan Hein Bengtson Mostafa Mohammadi Lotte N. S. Andreasen Struijk Thomas B. Moeslund Thomas Bak Shaoping Bai A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation Applied Sciences wheelchair upper limb exoskeleton robot ADL assistance PD control dynamic modeling of an upper limb exoskeleton trajectory tracking wearable exoskeleton |
| author_facet |
Muhammad Ahsan Gull Mikkel Thoegersen Stefan Hein Bengtson Mostafa Mohammadi Lotte N. S. Andreasen Struijk Thomas B. Moeslund Thomas Bak Shaoping Bai |
| author_sort |
Muhammad Ahsan Gull |
| title |
A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation |
| title_short |
A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation |
| title_full |
A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation |
| title_fullStr |
A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation |
| title_full_unstemmed |
A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation |
| title_sort |
4-dof upper limb exoskeleton for physical assistance: design, modeling, control and performance evaluation |
| publisher |
MDPI AG |
| series |
Applied Sciences |
| issn |
2076-3417 |
| publishDate |
2021-06-01 |
| description |
Wheelchair mounted upper limb exoskeletons offer an alternative way to support disabled individuals in their activities of daily living (ADL). Key challenges in exoskeleton technology include innovative mechanical design and implementation of a control method that can assure a safe and comfortable interaction between the human upper limb and exoskeleton. In this article, we present a mechanical design of a four degrees of freedom (DOF) wheelchair mounted upper limb exoskeleton. The design takes advantage of non-backdrivable mechanism that can hold the output position without energy consumption and provide assistance to the completely paralyzed users. Moreover, a PD-based trajectory tracking control is implemented to enhance the performance of human exoskeleton system for two different tasks. Preliminary results are provided to show the effectiveness and reliability of using the proposed design for physically disabled people. |
| topic |
wheelchair upper limb exoskeleton robot ADL assistance PD control dynamic modeling of an upper limb exoskeleton trajectory tracking wearable exoskeleton |
| url |
https://www.mdpi.com/2076-3417/11/13/5865 |
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