Exoskeletons are a special type of collaborative robot that can be thought of as a humanoid robot clung to a human body (or a pilot). The proposed powered exoskeleton/robot is a 3 Degree of Freedom (DoF) robot and it relies on DC motors to apply the necessary joint torques which in turn require an input to drive these motors. Using Euler-Lagrange dynamics, dynamic model of this robot is developed that provides a mathematical relations among joint torques, joint angles and torque at the end effector. Force sensors at the wrist compute the desired input torque at the end effector; this dynamic model then maps the input torque to the respective joint torques that can produce the desired input torque at the end effector.


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    Title :

    Modelling of an intention based upper-limb exo-skeleton


    Contributors:


    Publication date :

    2016-07-01


    Size :

    1049975 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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