Pneumatic muscle actuated rotation modules for elbow rehabilitation equipment

6th ModTech International Conference - Modern Technologies in Industrial Engineering

Vetrice, G.^1 ; Deaconescu, A.^1

Department of Industrial Engineering and Management, Transilvania University of Brasov, Mihai Viteazul Street, no. 5, Brasov

500174, Romania^1

关键词: Design and calculation;    Flexion extension;    Force and torques;    Gravitational moments;    Moment of inertia;    Pneumatic actuation;    Theoretical study;    Two degrees of freedom;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/400/2/022059/pdf
DOI  :  10.1088/1757-899X/400/2/022059

来源: IOP

【 摘 要 】

The paper presents a theoretical study concerning the possibility of using a pneumatic actuation system for a piece of elbow rehabilitation equipment with two degrees of freedom. For this purpose the design and calculation of a rotation module for each movement performed by the equipment is necessary: flexion-extension and pronation-supination. Construction of the modules implies a force and torque analysis leading to the correct selection of the pneumatic muscles, able to perform the desired movements. The static analysis of the rotation module can be done in two different modalities. The first modality takes into account the influence of neuronal control quantities on the forces developed by the two pneumatic muscles, while the second one aims to determine forces based on the technical data and load pressures of the pneumatic muscles. The dynamic analysis of the rotation module starts from two equations of the dynamic model, where first taken into consideration are: J - the moment of inertia, ω - angular velocity, T - total moment in the joint and Tg - gravitational moment; then, for a simplified model, the term Tg is neglected. The exhaustive calculations carried out during the dynamic analysis yielded satisfying results. Further presented are variation graphs of pressure Δp and rotation angle θ versus time, respectively.