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Control of Shoulder Exoskeleton System through its Musclo-skeletal Model

Babazadeh Maghsoudloo, Keyhan | 2015

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 46907 (05)
  4. University: Sharif University of Technology
  5. Department: Electrical Engineering
  6. Advisor(s): Jahed, Mehran
  7. Abstract:
  8. Due to the increasing average age of societies, daily monitoring of the elderly activities is. Even activities such as sitting, getting up and lifting may be beyond the normal ability of an older person. In this context, the need to provide appropriate assistive devices for welfare and normal activities of this age group is raised. In addition, self managed rehabilitation activities which may be performed at home or work without direct involvement of a physician or physiotherapist is yet another reason where such devices may be of importance. For this purpose, specially devised robots may be utilized to accompany and couple with the upper or lower extremities as an assistive or rehabilitation device. These robots namely “Exoskeletons” as depicted in this study utilize an estimating limb trajectory algorithm by means of an appropriate muscle tendon and skeleton model. The model utilized in this study consists of a Zajac muscle-tendon in addition to an appropriate skeletal model, obtained from a Garner and Pendy data set. To have an appropriately coupled robot with harmonious interaction with the environment, this study considered an impedance (admittance) controller. Furthermore due to the nature of the nonlinear dynamics of the robot, a feedback linearization controller is utilized. Also implementation of an adaptive controller is considered in order to compensate uncertainties in the robot model parameters. In addition to these controllers, in order to navigate through specific trajectory in unpredictable environments with uncertainty in parameter values, the sliding mode adaptive robust controller is further utilized. Therefore, this study considers the inherent complexity and uncertainty in the neurophysiological parameters. In addition to adaptive impedance controller, this controller evaluated the problem of stability. Based on simulated results, adaptive impedance control for the proposed hybrid model was deemed most appropriate
  9. Keywords:
  10. Electromyogram Signal ; Exoskeleton ; Musculoskeletal Modeling ; Robust Adaptive Controller ; Adaptive Sliding Control ; Adaptive Impedance Control ; Shoulder Musclotendon Skelet Model ; Exoskeleton Controller

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