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Design and impedance control of a hydraulic robot for paralyzed people
Citation Link: https://doi.org/10.15480/882.4367
Publikationstyp
Conference Paper
Date Issued
2020
Sprache
English
Institut
TORE-DOI
Contribution to Conference
One of the most restricting conditions for any
living being is the loss of mobility. For humans, quadriplegia
is the most extreme form. Different causes like spinal cord or
brain injuries resulting in various degrees of paralysis of all
four limbs. In the most serious cases even the ability to feel is
gone below the injury resulting in an absolute dependency on
others. Technical devices are already able to help those affected
in many ways. To regain some of their independence, a robot
actuating their body and giving them their mobility back could
be one approach. Since their conditions affect the ability to
interact with a device the choices for an interface controlling
device are limited.
In this paper, a design for a one degree of freedom device for
paralyzed patients is presented. This device is focusing on the
wrist extension and flexion. It is considered as a demonstration
platform for a new actuation and comfort approaches for assistive
devices. Since moving the human body for manipulation of
objects will require high output forces, using a hydraulic system
is a good option for actuating the device. Thus, after designing
the device, a suitable actuator has to be chosen. One of the
problems in using hydraulic systems is their hard controlling
task. For controlling this hydraulic actuator, an impedance
controller is proposed. For evaluating the controlling system,
two different experiments are designed and their results are
explored.
living being is the loss of mobility. For humans, quadriplegia
is the most extreme form. Different causes like spinal cord or
brain injuries resulting in various degrees of paralysis of all
four limbs. In the most serious cases even the ability to feel is
gone below the injury resulting in an absolute dependency on
others. Technical devices are already able to help those affected
in many ways. To regain some of their independence, a robot
actuating their body and giving them their mobility back could
be one approach. Since their conditions affect the ability to
interact with a device the choices for an interface controlling
device are limited.
In this paper, a design for a one degree of freedom device for
paralyzed patients is presented. This device is focusing on the
wrist extension and flexion. It is considered as a demonstration
platform for a new actuation and comfort approaches for assistive
devices. Since moving the human body for manipulation of
objects will require high output forces, using a hydraulic system
is a good option for actuating the device. Thus, after designing
the device, a suitable actuator has to be chosen. One of the
problems in using hydraulic systems is their hard controlling
task. For controlling this hydraulic actuator, an impedance
controller is proposed. For evaluating the controlling system,
two different experiments are designed and their results are
explored.
DDC Class
600: Technik
620: Ingenieurwissenschaften
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