Modeling and control of a 7DOF exoskeleton robot for arm movements

2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Volumn , Issue , 2009, Pages 245-250

  Rahman, Mohammad H ^a,b   Saad, Maarouf ^a   Kenné, Jean P ^a   Archambault, Philippe S ^c  

^a ÉCOLE DE TECHNOLOGIE SUPÉRIEURE   (Canada)

^b KHULNA UNIVERSITY OF ENGINEERING AND TECHNOLOGY   (Bangladesh)

^c MCGILL UNIVERSITY   (Canada)

Author keywords

Computed torque control; Dynamic model; Exoskeleton robot (ExoRob); Master exoskeleton arm (mExoArm); Physical disability; Rehabilitation

Indexed keywords

ARM MOVEMENTS; BODY MOTIONS; COMPUTED TORQUE CONTROL; DAILY ACTIVITY; DEGREES OF FREEDOM; DEVELOPED MODEL; DISABLED PEOPLE; DYNAMIC SIMULATION; EXOSKELETON ROBOTS; KINEMATICAL MODELS; MODELING AND CONTROL; PASSIVE MODE; PHYSICAL DISABILITY; SIMULATION RESULT; TRAJECTORY TRACKING; UPPER LIMB MOTION; UPPER LIMBS;

BIOMIMETICS; COMPUTER SIMULATION; DYNAMIC MODELS; DYNAMICS; ROBOTIC ARMS; ROBOTICS; TORQUE CONTROL;

CONTROLLERS;

EID: 77951471171     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBIO.2009.5420646     Document Type: Conference Paper

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