Design, fabrication, and control of twisted actuated robotic device

Abstract

In this paper, an assistive robotic device that integrates the consideration of human motion and algorithm of multi-axial control using a dual twisted-string actuation was designed and fabricated. To derive arm trajectories, subjects with different heights were recruited to identify the impacts to arm motions with various physical conditions. In addition to the identification of arm movements, an adaptive robust control (ARC) algorithm was used to compensate for the rotational movement of shoulder joint with an external load attached to the palm of the fabricated robotic device. With the ARC controller, the robotic device demonstrates an excellent tracking and synchronization performance.