Two-Dof Upper Limb Rehabilitation Robot Driven by Straight Fibers Pneumatic Muscles

In this paper, the design of a 2-dof (degrees of freedom) rehabilitation robot for upper limbs driven by pneumatic muscle actuators is presented. This paper includes the different aspects of the mechanical design and the control system and the results of the first experimental tests. The robot proto...

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Detalles Bibliográficos
Autores principales: Durante, Francesco, Raparelli, Terenziano, Beomonte Zobel, Pierluigi
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9405197/
https://www.ncbi.nlm.nih.gov/pubmed/36004902
http://dx.doi.org/10.3390/bioengineering9080377
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author Durante, Francesco
Raparelli, Terenziano
Beomonte Zobel, Pierluigi
author_facet Durante, Francesco
Raparelli, Terenziano
Beomonte Zobel, Pierluigi
author_sort Durante, Francesco
collection PubMed
description In this paper, the design of a 2-dof (degrees of freedom) rehabilitation robot for upper limbs driven by pneumatic muscle actuators is presented. This paper includes the different aspects of the mechanical design and the control system and the results of the first experimental tests. The robot prototype is constructed and at this preliminary step a position and trajectory control by fuzzy logic is implemented. The pneumatic muscle actuators used in this arm are designed and constructed by the authors’ research group.
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spelling pubmed-94051972022-08-26 Two-Dof Upper Limb Rehabilitation Robot Driven by Straight Fibers Pneumatic Muscles Durante, Francesco Raparelli, Terenziano Beomonte Zobel, Pierluigi Bioengineering (Basel) Article In this paper, the design of a 2-dof (degrees of freedom) rehabilitation robot for upper limbs driven by pneumatic muscle actuators is presented. This paper includes the different aspects of the mechanical design and the control system and the results of the first experimental tests. The robot prototype is constructed and at this preliminary step a position and trajectory control by fuzzy logic is implemented. The pneumatic muscle actuators used in this arm are designed and constructed by the authors’ research group. MDPI 2022-08-09 /pmc/articles/PMC9405197/ /pubmed/36004902 http://dx.doi.org/10.3390/bioengineering9080377 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Durante, Francesco
Raparelli, Terenziano
Beomonte Zobel, Pierluigi
Two-Dof Upper Limb Rehabilitation Robot Driven by Straight Fibers Pneumatic Muscles
title Two-Dof Upper Limb Rehabilitation Robot Driven by Straight Fibers Pneumatic Muscles
title_full Two-Dof Upper Limb Rehabilitation Robot Driven by Straight Fibers Pneumatic Muscles
title_fullStr Two-Dof Upper Limb Rehabilitation Robot Driven by Straight Fibers Pneumatic Muscles
title_full_unstemmed Two-Dof Upper Limb Rehabilitation Robot Driven by Straight Fibers Pneumatic Muscles
title_short Two-Dof Upper Limb Rehabilitation Robot Driven by Straight Fibers Pneumatic Muscles
title_sort two-dof upper limb rehabilitation robot driven by straight fibers pneumatic muscles
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9405197/
https://www.ncbi.nlm.nih.gov/pubmed/36004902
http://dx.doi.org/10.3390/bioengineering9080377
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AT beomontezobelpierluigi twodofupperlimbrehabilitationrobotdrivenbystraightfiberspneumaticmuscles

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