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    Modeling and Control of Cable-Driven Exoskeleton for Arm Rehabilitation

    Source: Journal of Mechanisms and Robotics:;2024:;volume( 017 ):;issue: 006::page 61010-1
    Author:
    Zhu, Lihong
    ,
    Cui, Can
    ,
    Zhang, Dong
    ,
    Tan, Jiamin
    ,
    Xu, Changxing
    DOI: 10.1115/1.4067305
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: Exoskeleton robotics is a key technology in the field of physical rehabilitation, and the main research direction is to precisely control the exoskeleton structure with improved dexterity. Bowden-cables are uniquely structured for power transmission in lightweight wearable exoskeletons, but precisely controlling the exoskeleton system is challenging when considering their inherent limitations such as friction and hysteresis. This paper proposes a compact wearable exoskeleton with Bowden-cable designed for the purpose of rehabilitating the elbow and forearm. First, we optimize the performance of the Bowden-cable transmission by incorporating redirection pulleys, while a mathematical model is developed to describe the Bowden-cable and pulley system (BCPS). Afterwards, guided by the principle of ergonomic concept, the mechanism design and size calculation of the exoskeleton are conducted. Moreover, an optimized sliding mode control strategy was implemented to control the exoskeleton, and the efficacy of the designed controller was assessed through trajectory tracking experiments simulating “eating” movements. Finally, the experimental results demonstrate that the root mean square errors (RMSEs) for elbow and forearm angle tracking are 0.84 deg and 1.13 deg, respectively, indicating that the designed exoskeleton is suitable for arm rehabilitation training.
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      Modeling and Control of Cable-Driven Exoskeleton for Arm Rehabilitation

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    contributor authorZhu, Lihong
    contributor authorCui, Can
    contributor authorZhang, Dong
    contributor authorTan, Jiamin
    contributor authorXu, Changxing
    date accessioned2025-04-21T10:25:28Z
    date available2025-04-21T10:25:28Z
    date copyright12/12/2024 12:00:00 AM
    date issued2024
    identifier issn1942-4302
    identifier otherjmr_17_6_061010.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4306163
    description abstractExoskeleton robotics is a key technology in the field of physical rehabilitation, and the main research direction is to precisely control the exoskeleton structure with improved dexterity. Bowden-cables are uniquely structured for power transmission in lightweight wearable exoskeletons, but precisely controlling the exoskeleton system is challenging when considering their inherent limitations such as friction and hysteresis. This paper proposes a compact wearable exoskeleton with Bowden-cable designed for the purpose of rehabilitating the elbow and forearm. First, we optimize the performance of the Bowden-cable transmission by incorporating redirection pulleys, while a mathematical model is developed to describe the Bowden-cable and pulley system (BCPS). Afterwards, guided by the principle of ergonomic concept, the mechanism design and size calculation of the exoskeleton are conducted. Moreover, an optimized sliding mode control strategy was implemented to control the exoskeleton, and the efficacy of the designed controller was assessed through trajectory tracking experiments simulating “eating” movements. Finally, the experimental results demonstrate that the root mean square errors (RMSEs) for elbow and forearm angle tracking are 0.84 deg and 1.13 deg, respectively, indicating that the designed exoskeleton is suitable for arm rehabilitation training.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleModeling and Control of Cable-Driven Exoskeleton for Arm Rehabilitation
    typeJournal Paper
    journal volume17
    journal issue6
    journal titleJournal of Mechanisms and Robotics
    identifier doi10.1115/1.4067305
    journal fristpage61010-1
    journal lastpage61010-10
    page10
    treeJournal of Mechanisms and Robotics:;2024:;volume( 017 ):;issue: 006
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
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