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Designing, Constructing, and Controlling Shoulder Part of Exoskeleton Robot Model Based on Muscle Contraction

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This thesis project will try to create a model of upper limb exoskeleton robot controlled by human muscle contraction. the project was divided into two major parts namely shoulder arm movement and lower arm movement, while this thesis is focused on shoulder arm movement. the movement of the shoulder will limit into front and side delts movement which actuated by dc-motor. the mechanical design to simulate the shoulder movement is inspired from WABIAN-2 robot made by Waseda University. the movement of the exoskeleton is controlled by muscle contraction on the deltoids and the trapezius. the theory behind the system is as the muscle contracts, it produce voltage which becomes readable with the help of a technique called Electromyography. the voltage is fed into the integrated Analog Digital Converter in ATMega 2560 based microcontroller to be further processed and it becomes the reference for the robot to determine its movement. the project was created in size with actual human arm, which hopefully can represent the original features of exoskeleton that is supposed to be used directly by humans.

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Availability

B01570

(Rack Thesis)

Available

Detail Information

Series Title

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Call Number

1570

Publisher

: Swiss German University., 2014

Collation

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Language

English

ISBN/ISSN

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Classification

NONE

Content Type

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Media Type

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Carrier Type

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Edition

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Subject(s)

MT
Electromyography
Modelling
Exoskeleton
Myoelectric
WABIAN-2 robot

Specific Detail Info

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Statement of Responsibility

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