外骨骼
可穿戴计算机
机制(生物学)
动力外骨骼
阻抗控制
机器人
模拟
工程类
肌电图
人机交互
计算机科学
物理医学与康复
人工智能
嵌入式系统
医学
哲学
认识论
作者
Fehmi Mustafa Dikbas,Özgür Ege Aydoğan,Idris Batuhan Aydin,Derya Cetin,Mehmet Emin Aktan,Erhan Akdoğan
标识
DOI:10.1142/s0219519423500574
摘要
In this study, a wearable exoskeleton with an active drive mechanism was designed for both space-saving and to ensure the safety and comfort of the workers. At the same time, this active wearable exoskeleton mechanism aims to facilitate the daily life of disabled people with its movement assisting feature. For these purposes, an active and wearable exoskeleton with a total of five degrees of freedom, two active (arm and shoulder flexion/extension) and three passive axes (shoulder lateral rotation and shoulder abduction/adduction), was developed. A novel load suspension system has been implemented to the design for absorbtion of the mechanism’s own weight. The force-based impedance control method has been used for effective human–robot interaction. Furthermore, a low-cost electromyography sensor has been developed and integrated into the robotic system as biological feedback. As a result of the tests, it has been revealed that the system can help with lifting loads and successfully perform rehabilitation exercises.
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