In this paper, the design of a 2-dof (degrees of freedom) rehabilitation robot for upper limbs driven by pneumatic muscle actuators is presented. This paper includes the different aspects of the mechanical design and the control system and the results of the first experimental tests. The robot prototype is constructed and at this preliminary step a position and trajectory control by fuzzy logic is implemented. The pneumatic muscle actuators used in this arm are designed and constructed by the authors' research group.

Two-Dof Upper Limb Rehabilitation Robot Driven by Straight Fibers Pneumatic Muscles

Durante, Francesco
;
Raparelli, Terenziano;Beomonte Zobel, Pierluigi
2022

Abstract

In this paper, the design of a 2-dof (degrees of freedom) rehabilitation robot for upper limbs driven by pneumatic muscle actuators is presented. This paper includes the different aspects of the mechanical design and the control system and the results of the first experimental tests. The robot prototype is constructed and at this preliminary step a position and trajectory control by fuzzy logic is implemented. The pneumatic muscle actuators used in this arm are designed and constructed by the authors' research group.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11697/192040
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