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final_robotic_roject_with mov

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( )

7 Upper-Limb Powered Exoskeleton

(92123141) (92123120) (91126913) (92123138)

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() 1 .

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1- . ( ) . 2- .3- ( ) . .4- () ( ) . .

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. . ( )

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7 . ( 1,1). () . ( ) ( 1, 2) . ( ) . , .backlashThe cable-actuated dexterous exoskeleton for neurorehabilitation (CADEN)_ 7

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: ( ) . ... : ...

.

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. [1] . ( ) () . . . () , ( ) ( ) . ( ) . . . .inertialcentrifugalCoriolis

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1-

.6/45Shoulder adduction/abduction

2-

7/45Shoulder flexion/extension

3- 8/45Shoulder interior/exterior rotation

4-

9/45Elbow flexion/extension

5-

10/45Elbow rotation (supination/pronation)

6- 11/45Wrist ulnar/radial deviation

7- 12/45Wrist flexion/extension

8-

13/45Shoulder horizontal abduction/adduction

9-

14/45Full-range shoulder free motion

. 7 . .

7

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: :

(singularity)

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. (singularity)

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D_H 1-

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Position Shownidiai-1i-1i=0110001=-902200+902=033- UL0-903=+904400+904=+9055-FL0-905=-906600+906=07700+907-00HL08

D_H i : Zi Zi+1 Xi .ai : Zi Zi+1 Xi .di : Xi-1 Xi Zi .i : Xi-1 Xi Zi .19/45

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75 175

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.

:

.

25/45 .

:

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17/45 Simulink/ matlab

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. (u ) .

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tracking part : .

.q: : . H : .

33/45 feedbak linearizer

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, 35/45

, .

36/45 Shoulder adduction/abduction

X0 : parallel to neckY0 : toward heartZ0 : toward back

37/45 Shoulder flexion/extension

X0 : parallel to neckY0 : toward heartZ0 : toward back

38/45 Shoulder interior/exterior rotation

X0 : parallel to neckY0 : toward heartZ0 : toward back

39/45 Elbow flexion/extension

X0 : parallel to neckY0 : toward heartZ0 : toward back

40/45 Elbow rotation (supination/pronation)

X0 : parallel to neckY0 : toward heartZ0 : toward back

41/45 Wrist ulnar/radial deviation

X0 : parallel to neckY0 : toward heartZ0 : toward back

42/45 Wrist flexion/extension

X0 : parallel to neckY0 : toward heartZ0 : toward back

43/45 Shoulder horizontal flexion/extension

X0 : parallel to neckY0 : toward heartZ0 : toward back

44/45 Shoulder Full range rotation

X0 : parallel to neckY0 : toward heartZ0 : toward back

.

. 7 .

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of 46/46
ر ی ب ک ر می ا ي عت ن ص گاه ش ن دا) ران ه ت ک ی ن ک ت ي ل& ت( رق* ب ي س د ی ه م کده ش ن دا وان ن ع ات* ی روت ه سار ی ن س رل و ی= ب ک7 ادی ه ا?ر* درجUpper-Limb Powered Exoskeleton گارش ن( ی ی ا* ات* ر ت ح س92123141 ) ( ری می ي حاج* ت جR م92123120 ) ( ان ی ص م ح ود ع س م91126913 ) ( ي ف ی ر ش م ی ر م92123138 ) اد درش ی س ا ي* لت ي طا عل در ی ح ر کی د ماه ن م ت1392
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