Design of Electro-Pneumatic Exoskeleton Robot for Upper Limb Actuation
Keywords:exoskeleton robot, electro-pneumatic, flexion, upper-limbs, orthosis
Most of tasks in daily activities are performed by upper-limbs. Physically weak persons such us elderly, injured or disabled person need to perform most of the daily activities with the help of exoskeleton robot. Therefore, various kind of exoskeleton robots have been developed in order to assist the physically weak person in their daily life. The current existing researches related to exoskeleton robot need to solve problems that related to suitable materials which is light and strong and also to work on the portable power supply that could power up the system for a long time independently. The proposed of this research project is to develop an electro-pneumatic powered shoulder orthosis for flexion motion only. This electro-pneumatic powered shoulder orthosis is actuated by a pneumatic cylinder which is placed at the backpack.For technical simplicity, this shoulder orthosis used an external power supply unit. performance analysis is carried out in terms of payload test. This shoulder orthosis need to lift up load (1kg, 2kg, 3kg, 4kg and 5kg) on 45o flexion motion. For each load, this shoulder orthosis need to repeat the test for three times. The time for each complete flexion motion is recorded. All the data is recorded in tables and presented in graphs. It is found from the experiments that the time taken for the cylinder to complete the flexion motion is increasing with load. This is because the cylinder needs to overcome the load as well as the gravitational force in order to complete the 45o flexion motion. As for the velocity, it is decreasing with the increasing of load. This is because, as the load increases, the cylinder becomes slower and it takes some time to complete the flexion motion.
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