Construction and control of a second prototype of an upper limp exoskeleton

Subject description:

Human-robot interaction is a subject of interest for the manufacturing, medical and even military industry. Providing extra capabilities to the human by means of electro-mechanical devices is a desired task in the context of human-robot devices. For that, in the last few years several exoskeletons prototypes have been developed in academia and robotic industry. Between the most popular exoskeletons are the lower limb and upper limb exoskeletons.

In this thesis we propose to continue with the work of José Sánchez Santis, a past student who begins this research at CIO.

The abilities that the student will learn during this thesis are:

• Observers theory
• Control theory
• Force control
• CAD design
• Robotics
• System modeling
• Bayesian filters (Kalman filter)
• 3D printing

Objectives:

• Continue with the second prototype of upper limb exoskeleton developed at CIO
• Investigate and filter the signal form the EMG sensor available at the LAB
• Extend an already proposed observed-based control algorithm developed at CIO
• Publish a conference paper in a prestigious international conference such as: ICRA, IROS, ACC, CDC
• Attending the conference.
• A draft for an International Journal.
• Thesis

This thesis is developed in collaborations with PhD, master and undergraduate students who are LAB members.

State of the project

Project started in 2017.

Students involved in the project:

At the present time (November 2018) no students are involved in this project. From January 2019 it is highly probable that a couple of undergraduate students be involved in the project.

Publications from the team:

Master thesis from José Sánchez Santis.

Materials:

The first version prototype of an upper limb exoskeleton previously developed at LAB; step motors; servo motors; encoders; EMG sensor; 3D printer.

Financial support:

CIO