Ironman Project - Design Of Electro-Mechanical Muscle For Elbow Exoskeleton Robot

Lim, Chee An (2013) Ironman Project - Design Of Electro-Mechanical Muscle For Elbow Exoskeleton Robot. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

This project is to design an actuation system of electro-mechanical muscle for elbow exoskeleton robot. The objectives is to design and fabricates a low complexity and low engineering and construction cost of a 1 DOF motion prototype upper arm(elbow joint) training/rehabilitation (exoskeleton) system. This project is mainly concerned on DC motor speed control system by using microcontroller PIC 16F877A. It is a open-loop real time system, where gyro sensor is attach to the end of elbow arm to collect angular velocity data. Pulse Width Modulation (PWM) technique is used where its signal is generated in microcontroller. The PWM signal will send to motor driver to vary the voltage supply to motor to maintain a constant speed. Through the project, integrating humans and robotic machines into one system offers multiple opportunities for creating assistive technologies that can be used in biomedical. The scope is integration of a human arm with a powered exoskeleton (orthotic device) and its experimental implementation in an elbow joint, naturally controlled by the human. The basic purpose of the exoskeleton system as an assistive device is to amplify the moment generated by the human muscles relative to the elbow joint, while manipulating loads. The exoskeleton‘s elbow joint was powered by a dc gear motor (WD21100) with a stall torque of 20 Nm equipped with a internal gearbox. The system integrated PIC and gyro to measure angular velocity at the human arm/exoskeleton and external load/exoskeleton interfaces. The exoskeleton structure under study was one DOF mechanism, corresponding to the arm limbs and joints, which were mechanically linked (worn) by the human operator. In the present setup the elbow joint was kept fixed at given positions and the actuator was mounted on the exoskeleton elbow joint. The operator manipulated an external weight, located at the exoskeleton tip, while feeling a scaled-down version of the load. The remaining external load on the joint was carried by the exoskeleton actuator. At the end of the project, a 1 DOF prototype upper arm (elbow joint) training/physiotherapy (exoskeleton) system for experimental purpose was developed and fabricated.

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