Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/47503
Title: NOVEL ENERGY EFFICIENT ASSISTIVE DEVICE WITH INTUITIVE HUMAN-MACHINE INTERFACE
Authors: TOMASZ MAREK LUBECKI
Keywords: assistive robotics, exoskeleton, power efficiency, electromyography, human-machine interface, knee assistance
Issue Date: 4-Jan-2013
Source: TOMASZ MAREK LUBECKI (2013-01-04). NOVEL ENERGY EFFICIENT ASSISTIVE DEVICE WITH INTUITIVE HUMAN-MACHINE INTERFACE. ScholarBank@NUS Repository.
Abstract: Recent trends in technology have enabled an increase in the number of energy efficient solutions for wearable robotic assistive devices such as exoskeletons and active orthotic devices. However, new types of drives still do not meet the level of effectiveness and robustness required for successful implementation in these assistive devices. This thesis proposes novel control methods to improve power efficiency and control quality in wearable robotic assistive devices with electric actuators. The focus of this research is on the assistance of motion in lower extremities corresponding to the operator¿s intention. The proposed system utilizes electromyography (EMG) signals from the muscles as the main information source of the operator¿s intention. Sophisticated processing algorithms have been proposed to evaluate these signals and to obtain information on the state of muscles and intended movement. The improvement in power efficiency is done by switching between the motor and generator mode of work of actuator. In the regenerative mode, the device assists the muscles in performing negative work and harvests energy from the user's actions.
URI: http://scholarbank.nus.edu.sg/handle/10635/47503
Appears in Collections:Ph.D Theses (Open)

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