Abstract
This paper proposes an upper limb power assist exoskeleton with passive rotation mechanism in order to realize user's free motion when the power supply is cut off. The mechanism makes it possible to reduce power consumption while the user does not need power assist. The exoskeleton comprises a DC motor, a worm gear mechanism and two pressure sensors. This exoskeleton keeps its posture even if the power supply cut off because the worm gear mechanism has a self-lock function. We adapted high robustness control method, the simple adaptive control (SAC) to control the exoskeleton and verified the effect of the power assist using EMG measurement.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
