Force Reflection Algorithms for Exoskeleton Controllers.

Abstract

This research effort investigated the kinematics and dynamics of open chain, serial linkage mechanisms with specific emphasis placed upon the application of this linkage as a force reflecting exoskeleton mechanism. The kinematics and dynamics of the linkage are developed with emphasis on the description of the redundant freedom. Computer modeling was performed to investigate and quantify the magnitude of the nonlinear terms of the mass dynamics. The results showed that these terms are significant for even large loads. A control approach for the force reflecting exoskeleton based upon a virtual spring between the operator's hand and the exoskeleton handgrip.

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Document Details

Document Type
Technical Report
Publication Date
Oct 01, 1991
Accession Number
ADA332659

Entities

People

  • Mark D. Bryfogle

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Biomedical
  • Space

DTIC Thesaurus Topics

  • Air Force
  • Algorithms
  • Angular Acceleration
  • Angular Momentum
  • Center Of Gravity
  • Computer Programming
  • Computer Programs
  • Computers
  • Control Systems
  • Equations
  • Equations Of Motion
  • Exoskeleton
  • Kinematics
  • Mathematics
  • Personal Computers
  • Reliability
  • Vector Spaces

Readers

  • Robotics and Automation.
  • Theoretical Analysis.