Title :
An inexpensive pneumatic manipulator for rehabilitation robotics
Author :
Ouerfelli, Mohamed ; Kumar, Vijay ; Harwin, William
Author_Institution :
Dept. of Mech. Eng. & Appl. Mech., Pennsylvania Univ., Philadelphia, PA, USA
Abstract :
Important considerations in the design of a low-cost wheelchair-mounted robot arm for motor-disabled children are discussed. The pneumatic actuation system for each joint consists of a four-bar transmission mechanism driven by two Flexator actuators. Modeling and control of the actuation system are discussed, and experimental results on the dynamic performance characteristics are presented. The preliminary design of two joints of the robot is described. Ongoing and future work is discussed
Keywords :
handicapped aids; pneumatic control equipment; robots; Flexator actuators; dynamic performance characteristics; four-bar transmission mechanism; inexpensive pneumatic manipulator; low-cost wheelchair-mounted robot arm; motor-disabled children; pneumatic actuation system; rehabilitation robotics; Costs; Design engineering; Laboratories; Manipulators; Mechanical engineering; Mobile robots; Pneumatic actuators; Prosthetics; Rehabilitation robotics; Wheelchairs;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292050
