EXPERIMENTAL STUDY OF PNEUMATIC DRIVEN EXOSKELETON FOR REHABILITATION AND TRAINING

This work investigates the pneumatic actuation of an upper limb exoskeleton intended for physical training and rehabilitation.In order to address specific requirements regarding transparency of movement, simplicity, natural safety and efficiency, in this study we examine the use of a pneumatic drive actuated with a combination of vacuum and pressurized air sources.To evaluate transparency, we measure the force of interaction between the patient and the exoskeleton in a passive mode.The experimentation of the interactions between the patient and exoskeleton is performed by harmonic movements created by the patient in a single shoulder joint with one degree of freedom system.The results of simulations and experiments are shown graphically.Finally, a conclusion and instructions for future works are made.