TY - GEN
T1 - Design and analysis of low cost upper limb exoskeleton
AU - Atia, M.G.B.
AU - Salah, O.
AU - Medhat, B.
AU - Ibrahim, K.
PY - 2018
Y1 - 2018
N2 - This research describes the design, kinematic and dynamic model of upper limb exoskeleton. This exoskeleton is designed to assist elderly people or people who suffer from feebleness in their upper limbs. The proposed exoskeleton follows the user movement by using IMU sensors which are attached to user to measure the arm joint angles. In this paper, the kinematic and dynamic equations are described. Furthermore, Simulation program and experiments are carried out to evaluate and validate the performance of model and the real prototype. The results show a good tracking and performance for both model and real prototype.
AB - This research describes the design, kinematic and dynamic model of upper limb exoskeleton. This exoskeleton is designed to assist elderly people or people who suffer from feebleness in their upper limbs. The proposed exoskeleton follows the user movement by using IMU sensors which are attached to user to measure the arm joint angles. In this paper, the kinematic and dynamic equations are described. Furthermore, Simulation program and experiments are carried out to evaluate and validate the performance of model and the real prototype. The results show a good tracking and performance for both model and real prototype.
UR - http://www.scopus.com/inward/record.url?eid=2-s2.0-85046543448&partnerID=MN8TOARS
U2 - 10.1109/ICCES.2017.8275281
DO - 10.1109/ICCES.2017.8275281
M3 - Conference contribution
BT - Proceedings of ICCES 2017 12th International Conference on Computer Engineering and Systems
ER -