Graduation Project Submitted in Partial Fulfillment of The Requirements for The Degrees of B.Sc. In Mechatronics & Mechanical Engineering
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Date
2023
Authors
Ismaeel Sbeih
Yazan Jawwabreh
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Abstract
Robotic exoskeleton systems are one of the hottest subjects in robotic research right now. These systems have undergone extensive development in order to be used in the assessment of human power and robotic rehabilitation. Unlike industrial robots, robotic exoskeleton systems require unique consideration in terms of mechanical and control approaches since they interface directly with humans. Moving ranges, safety, comfort wearing, low inertia, and adaptability should all be taken into account while designing these systems mechanically. The controllers of exoskeleton systems should prioritize controllability, responsiveness, flexible and smooth motion generation, and safety. In addition, the controller should generate motions that are consistent with the human motion goal. The purpose of this report is to provide an overview of exoskeleton systems and design an exoskeleton that provides support when lifting a load so that the human body is not affected by any injury during work. The design will be tested on a load of 70 kg and using different types of materials, type of control for motors and sensors.
A prototype arm of the exoskeleton was made and how to transfer movement from the user to the exoskeleton was studied by studying several sensors, but a flex sensor was chosen to transmit movement, but we noticed that there were several problems during work, including that the sensor was poorly made and did not give correct readings, so we resorted to using potentiometer.