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Hybrid, discrete, non-linear, suboptimal force augmenting exoskeleton for the elbow joint

Published: 07 December 2016 Publication History

Abstract

The design and implementation of a force augmenting exoskeleton for the elbow joint is presented in this paper. The force augmentation comes from electric motors as well as from pneumatic muscles that are the actuators of the device. This is the reason to say that the device is hybrid. Electric motors are more easily and precisely controlled than pneumatic muscles, however the last ones can move heavier weights. The autonomy of a device of this kind is reduced due to the energy expenditure of the two types of actuators employed. For this reason a suboptimal discrete nonlinear control was implemented which improves performance and lengthens considerably the operation time. A dynamical model of the device is also presented and a comparison between a PD+G and a suboptimal control is made. Simulation results are presented.

References

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I. Rosales, A. Osorio Cordero, S. Sañazar and R. Lozano. " Design and Modelling of a Backbone Pneumatic Exoskeleton" International Conference on System Theory, Control And Computing Romania, October 2014.
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Tomoyuki Noda and Jun Morimoto "Development of Upper-Extremity Exoskeleton Driven by Pneumatic Cylinder toward Robotic Rehabiliation Platform for Shoulder Elevation" IEEE International Conference on Rehabilitation Robotics, year 2015.
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  • (2020)Finite Horizon Nonlinear Energy Optimizing Control in a Force Augmenting Hybrid Exoskeleton for the Elbow JointIEEE Transactions on Control Systems Technology10.1109/TCST.2019.294502128:6(2681-2688)Online publication date: Nov-2020

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ICCMA '16: Proceedings of the 4th International Conference on Control, Mechatronics and Automation
December 2016
195 pages
ISBN:9781450352130
DOI:10.1145/3029610
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Publication History

Published: 07 December 2016

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Author Tags

  1. PD+G control
  2. Suboptimal control
  3. exoskeleton
  4. hybrid
  5. pneumatic muscle

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  • (2020)Finite Horizon Nonlinear Energy Optimizing Control in a Force Augmenting Hybrid Exoskeleton for the Elbow JointIEEE Transactions on Control Systems Technology10.1109/TCST.2019.294502128:6(2681-2688)Online publication date: Nov-2020

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