Design of an upper-limbed exoskeleton robot driven by McKibben artificial muscles

• Main Authors: Chun Ting Chen, 陳俊廷
• Other Authors: Chun Ta Chen
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/75055839898973262301

碩士 === 國立臺灣師範大學 === 機電科技學系 === 101 === Generally, people who can not perform activities due to the stroke or accidents must be cured by a physical therapist, and it should be operated one by one. However, the manpower sources do not meet so many requests. Therefore, this paper presents an exoskeleton robot for arm rehabilitation to solve for this situation. There are total 4 DOFs on our exoskeleton robot. It is 3 DOFs and 1 DOF on shoulder and elbow, respectively. In this thesis, building components, design and operation of the exoskeleton robot structure are presented. Moreover, mathematical models of devices, forward kinematics, inverse kinematics and inverse dynamics are developed to control the exoskeleton robot. Also, due to a large amount of symbolic computation, the Lagrangian formulation based on the quasi-coordinates is used to derive the inverse dynamics. Simulation of the forward kinematics and inverse kinematics are conducted by the Robotics Toolbox, and the Matlab program is developed for the inverse dynamics.