Skip to Main Content
Frequently Asked Questions
Submit an ETD
Global Search Box
Need Help?
Keyword Search
Participating Institutions
Advanced Search
School Logo
Files
File List
Sharma UD_Thesis.pdf final format approved CN LW 5-2-13.pdf (31.34 MB)
ETD Abstract Container
Abstract Header
Design and Fabrication of Intention Based Upper-Limb Exoskeleton
Author Info
Sharma, Manoj Kumar
ORCID® Identifier
http://orcid.org/0000-0002-4473-4941
Permalink:
http://rave.ohiolink.edu/etdc/view?acc_num=dayton1462290841
Abstract Details
Year and Degree
2016, Master of Science (M.S.), University of Dayton, Electrical Engineering.
Abstract
Exoskeletons are a special type of collaborative robot that can be thought of as a humanoid robot clung to a human body (or a pilot). The proposed powered exoskeleton/robot is a 3 Degree of Freedom (DoF) robot and it relies on DC motors to apply the necessary joint torques which in turn require an input to drive these motors. The idea here is to read the pilot’s intention using an array of Force Sensing Resistors (FSRs) and then parsing it through a Dynamic Intention Filter (DIF), that yields a meaningful output, necessary to drive the exoskeleton. The DIF proposed here is a novel approach that serves as an intelligent element in the system; based on various inputs, the DIF intelligently controls the motors within the predefined and dynamically-changing safe limits of a typical human arm. Nested PID controllers are used to drive the exoskeleton in “torque- control” and “position-control” modes, and a comparison is made regarding their advantages and disadvantages.
Committee
Raúl Ordóñez, PhD (Committee Chair)
John S Loomis, PhD (Advisor)
Dave Myszka (Advisor)
Pages
77 p.
Subject Headings
Electrical Engineering
;
Engineering
;
Mechanical Engineering
;
Robotics
;
Robots
Keywords
Exoskeleton, PID, control, force sensor
Recommended Citations
Refworks
EndNote
RIS
Mendeley
Citations
Sharma, M. K. (2016).
Design and Fabrication of Intention Based Upper-Limb Exoskeleton
[Master's thesis, University of Dayton]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1462290841
APA Style (7th edition)
Sharma, Manoj Kumar .
Design and Fabrication of Intention Based Upper-Limb Exoskeleton.
2016. University of Dayton, Master's thesis.
OhioLINK Electronic Theses and Dissertations Center
, http://rave.ohiolink.edu/etdc/view?acc_num=dayton1462290841.
MLA Style (8th edition)
Sharma, Manoj Kumar . "Design and Fabrication of Intention Based Upper-Limb Exoskeleton." Master's thesis, University of Dayton, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1462290841
Chicago Manual of Style (17th edition)
Abstract Footer
Document number:
dayton1462290841
Download Count:
617
Copyright Info
© 2016, all rights reserved.
This open access ETD is published by University of Dayton and OhioLINK.