Exoskeleton robot is a machine consisting of an outer framework worn by human, and powered by actuators that can provide external energy for the users to perform the human needs. Hydraulic exoskeleton robot has strong advantages of its high power density and strong advantages of its high power density and more chances to be utilized to satisfy the requirement of national defense, industrial and natural disaster.
Exoskeletons are worn by human, the key component for high performance of exoskeletons is depend on how the intention of human motion is well reflected to exact forces estimation during the process. The main goal of this research is to study the advanced mechanism and control design of hydraulic upper limb exoskeleton robot with pHR.
Robot arm direct teaching control
In the past, factory-based manufacturing technologies have made up a customized production line for the production of a single product. However, there are disadvantages in that, if there are small variations in production processes or products for producing various products, the production line must also be changed. Manipulation using a robot arm with multiple degrees of freedom compensates for these disadvantages because it can perform various tasks due to its high freedom of movement. However, high control knowledge is required to accurately implement the desired motion of the robot. If the operator can move the robot directly and remember the movement and move it, the robot can easily make the desired move even if there is no knowledge about the robot or control. This is called learning by demonstration.
In order to achieve the above object, the robot needs to move easily and quickly as intended by humans. For this purpose, it is possible to measure the force using a sensor that measures the force applied by the robot to the robot, and convert the force into motion of the robot. It is also possible to control so that a person can easily and quickly perform more various tasks if he or she can control not only the desired position but also the desired speed and interaction with the surrounding environment with the desired force.