final_robotic_roject_with mov
Post on 08-Apr-2017
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7 Upper-Limb Powered Exoskeleton
(92123141) (92123120) (91126913) (92123138)
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() 1 .
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1- . ( ) . 2- .3- ( ) . .4- () ( ) . .
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7 . ( 1,1). () . ( ) ( 1, 2) . ( ) . , .backlashThe cable-actuated dexterous exoskeleton for neurorehabilitation (CADEN)_ 7
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: ( ) . ... : ...
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. [1] . ( ) () . . . () , ( ) ( ) . ( ) . . . .inertialcentrifugalCoriolis
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1-
.6/45Shoulder adduction/abduction
2-
7/45Shoulder flexion/extension
3- 8/45Shoulder interior/exterior rotation
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9/45Elbow flexion/extension
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10/45Elbow rotation (supination/pronation)
6- 11/45Wrist ulnar/radial deviation
7- 12/45Wrist flexion/extension
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13/45Shoulder horizontal abduction/adduction
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14/45Full-range shoulder free motion
. 7 . .
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: :
(singularity)
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. (singularity)
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D_H 1-
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Position Shownidiai-1i-1i=0110001=-902200+902=033- UL0-903=+904400+904=+9055-FL0-905=-906600+906=07700+907-00HL08
D_H i : Zi Zi+1 Xi .ai : Zi Zi+1 Xi .di : Xi-1 Xi Zi .i : Xi-1 Xi Zi .19/45
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75 175
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17/45 Simulink/ matlab
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. (u ) .
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tracking part : .
.q: : . H : .
33/45 feedbak linearizer
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, 35/45
, .
36/45 Shoulder adduction/abduction
X0 : parallel to neckY0 : toward heartZ0 : toward back
37/45 Shoulder flexion/extension
X0 : parallel to neckY0 : toward heartZ0 : toward back
38/45 Shoulder interior/exterior rotation
X0 : parallel to neckY0 : toward heartZ0 : toward back
39/45 Elbow flexion/extension
X0 : parallel to neckY0 : toward heartZ0 : toward back
40/45 Elbow rotation (supination/pronation)
X0 : parallel to neckY0 : toward heartZ0 : toward back
41/45 Wrist ulnar/radial deviation
X0 : parallel to neckY0 : toward heartZ0 : toward back
42/45 Wrist flexion/extension
X0 : parallel to neckY0 : toward heartZ0 : toward back
43/45 Shoulder horizontal flexion/extension
X0 : parallel to neckY0 : toward heartZ0 : toward back
44/45 Shoulder Full range rotation
X0 : parallel to neckY0 : toward heartZ0 : toward back
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. 7 .
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