Powered Upper Limb Orthosis Actuation System Based on Pneumatic Artificial Muscles

Open access

Abstract

The actuation system of a powered upper limb orthosis is studied in the work. To create natural safety in the mutual “man-robot” interaction, an actuation system based on pneumatic artificial muscles (PAM) is selected. Experimentally obtained force/contraction diagrams for bundles, consisting of different number of muscles are shown in the paper. The pooling force and the stiffness of the pneumatic actuators is assessed as a function of the number of muscles in the bundle and the supply pressure. Joint motion and torque is achieved by antagonistic actions through pulleys, driven by bundles of pneumatic muscles. Joint stiffness and joint torques are determined on condition of a power balance, as a function of the joint position, pressure, number of muscles and muscles

If the inline PDF is not rendering correctly, you can download the PDF file here.

  • [1] Perry J. J. Rosen S. Burns. Upper-limb Powered Exoskeleton Design. IEEE/ASME Transactions on Mechatronics12 (2007) No. 4 408-417.

  • [2] Frisoli A. F. Salsedo M. Bergamasco B. Rossi M. C. Carboncini. A Force-feedback Exoskeleton for Upper-limb Rehabilitation in Virtual Reality. Applied Bionics and Biomechanics6 (2009) No. 2 115-126.

  • [3] Nef T. M. Mihelj R. Riener. Armin: A Robot for Patient-cooperative Arm Therapy. Medical & Biological Engineering & Computing45 (2007) 887-900.

  • [4] Vitiello N. T. Lenzi St. Roccella St. Marco M. De Rossi Em. Cattin Fr. Giovacchini M. C. Carrozza. NEUROExos: A Powered Elbow Exoskeleton for Physical Rehabilitation. IEEE Transactions on Robotics29 (2013) No. 1 220-235.

  • [5] Vanderborght B. et al. Variable Impedance Actuators: A Review. Robotics and Autonomous Systems61 (2013) 1601-1614.

  • [6] Chou P. B. Hannaford. Measurement and Modelling of McKibben Pneumatic Artificial Muscles. IEEE TRANS On Robotics and Automation 12 (1996) No. 1 90-102.

  • [7] Tsagarakis N. D. G. Caldwell. Improved Modelling and Assessment of Pneumatic Muscle Actuators ICRA 2000 USA San Francisco May 2000 IEEE pres 3641-3646.

  • [8] Daerden Fr. D. Lefeber. Pneumatic Artificial Muscles: Actuators for Robotics and Automation. European Journal of Mechanical and Environmental Engineering 47 (2002) No. 1 1-11.

  • [9] Caldwell D. G. et al. “Soft” Exoskeletons for Upper and Lower Body Rehabilitation – Design Control and Testing. International Journal of Humanoid Robotics 4 (2007) No. 3 549-573.

  • [10] Davis J. J. Canderle P. Artrit N. Tsagarakis D. G. Caldwell. Enhanced Dynamic Performance in Pneumatic Muscle Actuators Pros. of the 2002 IEEE ICRA DOI: 10.1109/ROBOT.2002.1013662 2002 2836-2841.

  • [11] Shin D. X. Yeh O. Khatib. Variable Radius Pulley Design Methodology for Pneumatic Artifical Muscle-based Antagonistic Actuation Systems 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems September 25–30 2011 USA CA San Francisco 2011 1830-1835.

  • [12] Sardellitti I. J. Park D. Shin O. Khatib. Air Muscle Controller Design in the Distributed Macro-mini (DM2) Actuation Approach Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems 2007 1822-1827.

  • [13] Chakarov D. Iv. Veneva M. Tsveov T. Tiankov. New Exoskeleton Arm Concept Design and Actuation For Haptic Interaction with Virtual Objects. Journal of Theoretical and Applied Mechanics44 (2014) No. 4 DOI: 10.2478/jtam-2014-0019.

  • [14] Chakarov D. Iv. Veneva M. Tsveov. Specifying the Natural Stiffness of an Exoskeleton Arm used as Haptics Device. Series on Biomechanics 30 (2016) No. 4 3-12.

Search
Journal information
Impact Factor

CiteScore 2018: 0.88

SCImago Journal Rank (SJR) 2018: 0.192
Source Normalized Impact per Paper (SNIP) 2018: 0.646

Mathematical Citation Quotient (MCQ) 2017: 0.01

Metrics
All Time Past Year Past 30 Days
Abstract Views 0 0 0
Full Text Views 389 235 7
PDF Downloads 226 158 1