Upper Limb Exoskeleton Design and Implementation to Control a Robotic Arm

Abstract

This project presents the design, modelling and implementation of a system, which allows controlling a robotic arm through movement commands captured by an exoskeleton adapted to an upper limb. A study of degrees of freedom, joint movement angles and limitations that will have both the robotic arm and the exoskeleton was performed. The mechatronics design methodology based on the V-Model was used. The mechanical, electrical and control designs were developed concurrently in a way that one does not compromise the other's integrity. The mechanical design is realized and simulated in a CAD software to verify the operation and movement freedom that the user will have. Batteries are dimensioned to power the exoskeleton and the robotic arm. After integration of the systems designed, requirements assurance is performed. The robotic arm is able to replicate the movements made with the exoskeleton; the reaction time in slow movements is in real time, while for high reflections this present a delay up to 0.42 seconds. The robotic arm is able to lift 250 g without compromising its reaction speed. The ratio of movements between robotic arm and exoskeleton has a tolerance of up to 5 degrees.