| Issue |
MATEC Web Conf.
Volume 76, 2016
20th International Conference on Circuits, Systems, Communications and Computers (CSCC 2016)
|
|
|---|---|---|
| Article Number | 02038 | |
| Number of page(s) | 5 | |
| Section | Systems | |
| DOI | https://doi.org/10.1051/matecconf/20167602038 | |
| Published online | 21 October 2016 | |
Design of active feedback for rehabilitation device
1 Technical University of Kosice, Faculty of Mechanical Engineering, Department of Automation, Control and Human Machine Interaction, Letná 9, 04200 Košice, Slovakia
2 Tomas Bata University in Zlin, Faculty of Applied Informatics, nám. T.G.Masaryka 5555, 760 01 Zlín. Czech republic
a Corresponding author: ondrej.liska@tuke.sk
Sensor systems are an essential part of automated equipment. They are even more important in machines that come in contact with people, because they have a significant impact on safety. This paper describes the design of active feedback for rehabilitation device driven by pneumatic artificial muscles. Here are presented three methods for measuring the load of the robot. The first is a system composed of Force Sensitive Resistors (FSR) placed in the handle of the device. Two other methods are intended to measure the load of the actuator composed of artificial muscles. The principle of one method is to measure the difference in filling pressures of the muscles, second is based on strain measurement in the drive cables. The paper describes advantages and disadvantages of using each of these methods in a rehabilitation device
© The Authors, published by EDP Sciences, 2016
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