An inexpensive pneumatic manipulator for rehabilitation robotics

Important considerations in the design of a low-cost wheelchair-mounted robot arm for motor-disabled children are discussed. The pneumatic actuation system for each joint consists of a four-bar transmission mechanism driven by two Flexator actuators. Modeling and control of the actuation system are discussed, and experimental results on the dynamic performance characteristics are presented. The preliminary design of two joints of the robot is described. Ongoing and future work is discussed.<
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