Pneumatic Muscle Actuated Robotized Arm for Rehabilitation Systems

摘要

Abstract — The utilization of pneumatic muscles in the actuation of robotized systems is still in its early stages, hence the requirement of a study of such constructive solutions. Consequently the paper presents the constructive solution and performance of a robotized arm actuated by pneumatic muscles. This system is mounted on a wheelchair for persons with locomotive disabilities. The main reason underlying the discussion of this specific system is a special property of compressed air, known as compliance, that allows a favourable response to commands of the actuated elements. Thus it is compliance that ensures a soft contact as well as safety of the human operator in interacting with operating equipment. Index Terms — pneumatic muscle, rehabilitation robot. I.