Thesis etd-02092021-200851 |
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Thesis type
Tesi di laurea magistrale
Author
RINALDI, GIANLUCA
URN
etd-02092021-200851
Thesis title
Design and control of a series-elastic actuator for a portable shoulder exoskeleton
Department
INGEGNERIA DELL'INFORMAZIONE
Course of study
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Supervisors
relatore Prof. Avizzano, Carlo Alberto
relatore Prof. Frisoli, Antonio
relatore Prof. Frisoli, Antonio
Keywords
- control
- controllo
- design
- elastic
- esoscheletro
- esperimenti
- exoskeleton
- portabe
- portabile
- series
- shoulder
- spalla
- testing
- wearable
Graduation session start date
25/02/2021
Availability
Withheld
Release date
25/02/2091
Summary
La tesi si propone il controllo di un esoscheletro portabile attuato per spalla. Lo scopo è quello di fornire assistenza al movimento di flessione/estensione del braccio per diminuire lo stress muscolo-scheletrico di operatori logistici. La tesi si concentra sul metodo di attuazione series-elastic.
The thesis is about the control of a portable exoskeleton designed for the shoulder joint. The aim is to provide assistance in the flexion / extension movement of the arm to reduce the musculoskeletal stress of logistic operators. The thesis focuses on the series-elastic actuation method of the portable exoskeleton.
The thesis is about the control of a portable exoskeleton designed for the shoulder joint. The aim is to provide assistance in the flexion / extension movement of the arm to reduce the musculoskeletal stress of logistic operators. The thesis focuses on the series-elastic actuation method of the portable exoskeleton.
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