ICRA'09 Paper Abstract


Paper FrB12.1

Brackbill, Elizabeth (University of Delaware), Agrawal, Sunil (University of Delaware), Mao, Ying (University of Delaware), Annapragada, Madhu (Automation Research Group), Dubey, Venketesh (Bournemouth University)

Dynamics and Control of a 4-Dof Wearable Cable-Driven Upper Arm Exoskeleton

Scheduled for presentation during the Regular Sessions "Rehabilitation Robotics - II" (FrB12), Friday, May 15, 2009, 10:30−10:50, Room: 504

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Rehabilitation Robotics


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.



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