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Conference Papers Year : 2010

Gravity Compensation of an Upper Extremity Exoskeleton

Salam Moubarak
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Minh Tu Pham
Richard Moreau
Tanneguy Redarce


This paper presents a new gravity compensation method for an upper extremity exoskeleton mounted on a wheel chair. This new device is dedicated to regular and efficient rehabilitation training for post-stroke and injured people without the continuous presence of a therapist. The exoskeleton being a wearable robotic device attached to the human arm, the user provides information signals to the controller and the latter generates the appropriate control signals for different training strategies and paradigms. This upper extremity exoskeleton covers four basic degrees of freedom of the shoulder and the elbow joints with three additional adaptability degrees of freedom in order to match the arm anatomy of different users. For comfortable and efficient rehabilitation, a new heuristic method have been studied and applied on our prototype in order to calculate the gravity compensation model without the need to identify the mass parameters. It is based on the geometric model of the robot and accurate torque measurements of the prototype's actuators in a set of specifically chosen joint positions. The weight effect has been successfully compensated so that the user can move his arm freely while wearing the exoskeleton without feeling its mass
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hal-00518075 , version 1 (16-09-2010)



Salam Moubarak, Minh Tu Pham, Richard Moreau, Tanneguy Redarce. Gravity Compensation of an Upper Extremity Exoskeleton. 32nd IEEE EMBC, Aug 2010, Buenos Aires, Argentina. pp.4489-4493, ⟨10.1109/IEMBS.2010.5626036⟩. ⟨hal-00518075⟩
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