Wearable Upper Limb Exoskeletal Robot Manipulator Design


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Akın Ö., Abacı İ. A. , Akdoğan E.

5TH INTERNATIONAL CONFERENCE ON ADVANCES IN MECHANICALENGINEERING, İstanbul, Türkiye, 17 - 19 Aralık 2019, ss.246-259

  • Basıldığı Şehir: İstanbul
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.246-259

Özet

Exoskeletal robot manipulators are used as motion supporters in health, defence and industrial fields. There are already various problems in these systems and are still being

developed. In this study, a wearable upper limb exoskeletal robot system was proposed for motion assist. The robotic system has three degrees of freedom. There are two active and one passive joints in the system. The system is capable of flexion - extension movement and rotation for the shoulder and flexion - extension movement forearm. In this context, the mechanical structure of the system, kinematic and dynamic analysis, electronic hardware structure and control method are explained in this study.