Design and modelling of a backbone pneumatic exoskeleton

I Rosales,Hipolito Aguilar, Rafael J Lopez,A Osorio Cordero,S Salazar,R Lozano

System Theory, Control and Computing（2014）

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摘要

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.

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关键词

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,artificial muscle,exoskeleton,pneumatic assistant

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