Modular design and control of an upper limb exoskeleton

Abstract

In this paper, we use modular design method to construct an upper limb exoskeleton. This new design method is more simple and easy for exoskeletons than the other techniques, and it is facility to be extended into more joints robots. We also propose a novel admittance control, which works in task space. The admittance control has PID form, and does not need the inverse kinematic and the dynamic model of the exoskeleton. The experimental results show that both the design and the controller work well for the upper limb exoskeleton.