This paper presents a control scheme for a 5 DOFs upper limb powered exoskeleton. A joystick-based interface was chosen in order to receive the desired cartesian position and relative orientation of the end effector from the user. The control scheme verifies the belonging of the commanded position to the exoskeleton workspace before proceeding with the inverse kinematic optimization. As assistive device, the exoskeleton has to operate according to user’s intention. Therefore, control scheme’s capacity to track the desired cartesian trajectory is investigated. Robot redundancy is here exploited in order to minimize joint torques and avoiding singularities.

Design and modeling of a joystick control scheme for an upper limb powered exoskeleton

Russo, D.;Ambrosini, E.;Arrigoni, S.;Braghin, F.;Pedrocchi, A.
2016

Abstract

This paper presents a control scheme for a 5 DOFs upper limb powered exoskeleton. A joystick-based interface was chosen in order to receive the desired cartesian position and relative orientation of the end effector from the user. The control scheme verifies the belonging of the commanded position to the exoskeleton workspace before proceeding with the inverse kinematic optimization. As assistive device, the exoskeleton has to operate according to user’s intention. Therefore, control scheme’s capacity to track the desired cartesian trajectory is investigated. Robot redundancy is here exploited in order to minimize joint torques and avoiding singularities.
IFMBE Proceedings
9783319327013
Assistive robotics; Joystick control; Singularity avoidance; Torques optimization; Upper limb powered exoskeleton; Biomedical Engineering; Bioengineering
File in questo prodotto:
File Dimensione Formato  
Russo_et_al_MEDICON2016.pdf

Accesso riservato

: Post-Print (DRAFT o Author’s Accepted Manuscript-AAM)
Dimensione 620.4 kB
Formato Adobe PDF
620.4 kB Adobe PDF   Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11311/1039609
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 2
  • ???jsp.display-item.citation.isi??? 1
social impact