Dynamics and control of a 4-dof wearable cable-driven upper arm exoskeleton
Authors: Brackbill, E.A., Mao, Y., Agrawal, S.K., Annapragada, M., Dubey, V.N.
Journal: Proceedings IEEE International Conference on Robotics and Automation
Publication Date: 02/11/2009
Pages: 2300-2305
ISSN: 1050-4729
DOI: 10.1109/ROBOT.2009.5152545
Abstract:In this paper, we present the dynamics, control, and preliminary experiments on a wearable upper arm exoskeleton intended for human users with four degrees-of-freedom (dof), driven by six cables. The control of this cable-driven exoskeleton is complicated because the cables can transmit forces to the arm only under tension. The standard PD controllers or Computed torque controllers perform only moderately since the cables need to be in tension. Future efforts will seek to refine these control strategies and theirimplementations to improve functionality of a human user. © 2009 IEEE.
https://eprints.bournemouth.ac.uk/10701/
Source: Scopus
Dynamics and Control of a 4-dof Wearable Cable-driven Upper Arm Exoskeleton
Authors: Brackbill, E.A., Mao, Y., Agrawal, S.K., Annapragada, M., Dubey, V.N.
Conference: IEEE ICRA2009: International Conference on Robotics and Automation
Dates: 12/05/2009
Publication Date: 2009
Abstract:In this paper, we present the dynamics, control, and preliminary experiments on a wearable upper arm exoskeleton intended for human users with four degrees-of-freedom (dof), driven by six cables. The control of this cable-driven exoskeleton is complicated because the cables can transmit forces to the arm only under tension. The standard PD controllers or Computed torque controllers perform only moderately since the cables need to be in tension. Future efforts will seek to refine these control strategies and their implementations to improve functionality of a human user.
https://eprints.bournemouth.ac.uk/10701/
Source: Manual
Preferred by: Venky Dubey
Dynamics and control of a 4-dof wearable cable-driven upper arm exoskeleton.
Authors: Brackbill, E.A., Mao, Y., Agrawal, S.K., Annapragada, M., Dubey, V.N.
Journal: ICRA
Publication Date: 2009
Pages: 2300-2305
Publisher: IEEE
https://eprints.bournemouth.ac.uk/10701/
http://www.informatik.uni-trier.de/~ley/db/conf/icra/icra2009.html
Source: DBLP