Powered Upper Limb Orthosis Actuation System Based on Pneumatic Artificial Muscles

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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

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Journal of Theoretical and Applied Mechanics

The Journal of Institute of Mechanics of Bulgarian Academy of Sciences

Journal Information

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

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