Pneumatic Rehabilitation Robot: Modeling and Control

Konferenz: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
07.06.2010 - 09.06.2010 in Munich, Germany

Tagungsband: ISR/ROBOTIK 2010

Seiten: 8Sprache: EnglischTyp: PDF

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Menchón, Manuel (Fundación Casaverde, Spain)
Morales, R.; Badesa, F. J.; Domenech, L. M.; Garcia-Aracil, N.; Sabater, J. M.; Perez, C.; Fernandez, E. (Biomedical Neuroengineering, Miguel Hernandez University, 03202 Elche, Spain)

In this paper, a pneumatic robot system for PNF based rehabilitation is presented. The contents of this paper is focused on the actuation system used in this robot. Especially robots intended to cooperate with humans, the case of rehabilitation robotic devices, requires drives compliant and safe. By virtue of the compressibility of air, a pneumatic actuator offers compliant actuation system. The paper presents the modeling and identification of the pneumatic actuation system of the designed robot. Finally, the promising results of a controller computed using these models are summarized.