DEVELOPMENT OF A 5-DOF IMPEDANCE-CONTROLLED WEARABLE UPPER LIMB EXOSKELETAL ROBOT

Abstract

In this study, a wearable exoskeleton with an active drive mechanism was designed for both space-saving and to ensure the safety and comfort of the workers. At the same time, this active wearable exoskeleton mechanism aims to facilitate the daily life of disabled people with its movement assisting feature. For these purposes, an active and wearable exoskeleton with a total of five degrees of freedom, two active (arm and shoulder flexion/extension) and three passive axes (shoulder lateral rotation and shoulder abduction/adduction), was developed. A novel load suspension system has been implemented to the design for absorbtion of the mechanism's own weight. The force-based impedance control method has been used for effective human-robot interaction. Furthermore, a low-cost electromyography sensor has been developed and integrated into the robotic system as biological feedback. As a result of the tests, it has been revealed that the system can help with lifting loads and successfully perform rehabilitation exercises.