Two-Dof Upper Limb Rehabilitation Robot Driven by Straight Fibers Pneumatic Muscles
Francesco Durante1, Terenziano Raparelli2, Pierluigi Beomonte Zobel1
1Department of Industrial and Information Engineering and Economy (DIIIE), University of L'Aquila, P.le Pontieri 1, Località Monteluco, 67100 L'Aquila, Italy.
Abstract:
In this paper, the design of a 2-dof (degrees of freedom) rehabilitation robot for upper limbs driven by pneumatic muscle actuators is presented. This paper includes the different aspects of the mechanical design and the control system and the results of the first experimental tests. The robot prototype is constructed and at this preliminary step a position and trajectory control by fuzzy logic is implemented. The pneumatic muscle actuators used in this arm are designed and constructed by the authors' research group.
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