Motion Control of a 4-DOF Cable-Driven Upper Limb Exoskeleton

被引：0

作者：

Wang, Jianhua ^{[1
]}

Li, Wang ^{[1
]}

Chen, Weihai ^{[1
]}

Zhang, Jianbin ^{[2
]}

机构：

[1] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China

[2] Beihang Univ, Sch Mech Engn & Automat, Beijing 100191, Peoples R China

来源：

PROCEEDINGS OF THE 2019 14TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA 2019) | 2019年

基金：

中国国家自然科学基金;

关键词：

cable-driven; exoskeleton; motion control; tension distribution;

D O I：

10.1109/iciea.2019.8834169

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper presents the motion control of a 4-DOF cable-driven upper limb exoskeleton. The exoskeleton consists of a 3-DOF shoulder module and a 1-DOF elbow module, with six cables are routed through the exoskeleton cuffs to drive the whole upper limb motion, each module can be controlled independently. This design preserves the advantages with cable-driven parallel mechanisms, and introduces the advantages in having a serial kinematic structure. To control the motion of the exoskeleton along desired trajectories in space, nonlinear feedforward control laws hi the cable length coordinates are used. Taking account of the effect of redundancy on actuation, optimal tension distribution is considered in the control laws. Trajectories tracking capability was demonstrated through experiments with the prototype of exoskeleton.

引用

页码：2129 / 2134

页数：6

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