Control Strategy of Rope Driven Upper Exoskeleton Robot Based on Screw Method
文献类型：会议论文
| 作者 | Wang, Jianhua; Wang, Haoyu; Chen, Weihai; Zhang, Jianbin; Fang, Zaojun; Yang, Guilin |
| 出版日期 | 2021 |
| 会议日期 | AUG 01-04, 2021 |
| 关键词 | NEUROREHABILITATION RECOVERY THERAPY STROKE |
| DOI | 10.1109/ICIEA51954.2021.9516349 |
| 英文摘要 | With the advance of the deep aging process or society, the spread of upper limb motor dysfunction has become a serious social problem, and the development of excellent performance of upper limb rehabilitation robot has become a major social demand of the country.This thesis will take the 7-DOF rope driven upper exoskeleton rehabilitation robot as the research object.According to (he mechanical structure of the 7-DOF upper exoskeleton prototype, the kinematics and dynamics model were established, the feasible motion space of the upper exoskeleton was obtained, and the relationship between the joint pose and the rope length, and (he joint moment and the tension on the rope was calculated. According to the actual needs, the closed-loop position control and force control frame of the motor are built.The upper limb exoskeleton robot is controlled based on the spin method. |
| 会议录出版者 | IEEE Conference on Industrial Electronics and Applications |
| 学科主题 | Engineering |
| ISSN号 | 2156-2318 |
| ISBN号 | 978-1-6654-2248-2 |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/23259]  |
| 专题 | 会议专题 会议专题_会议论文 |
| 推荐引用方式 GB/T 7714 | Wang, Jianhua,Wang, Haoyu,Chen, Weihai,et al. Control Strategy of Rope Driven Upper Exoskeleton Robot Based on Screw Method[C]. 见:. AUG 01-04, 2021. |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
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