CHAPTER 1
INTRODUCTION
1.1 Background
An exoskeleton is an external structural mechanism whose joints correspond to those of the human body. It is worn by the human and the physical contact between the
operator and the exoskeleton allows direct transfer of mechanical power and information signals. This project is about to design an actuation system of electro-mechanical muscle
for elbow exoskeleton robot. To design a simple mechanism for dc motor as actuator of elbow exoskeleton and fabricate a low cost actuator and driving system for elbow joint, a
direct current DC motors have variable characteristics and can provide a high starting torque have been choose. It is important to make a motor driver to control the speed of DC
motor in desired speed, where the load on the DC motor varies over a speed range. To make the motor operate, first must make the program on PIC. The PWM Pulse Width
Modulation function of PIC is used for the electric current control to drive a motor. In utilizing the exoskeleton as a human power amplifier, the human provides control signals
for the exoskeleton, while the exoskeleton actuators provide most of the power necessary for performing the task. The human becomes a part of the system and applies a scaled-
down force compared with the load carried by the exoskeleton. For example, if the exoskeleton manipulates an object, the human may feel 10 of the load while the
exoskeleton carries 90 of the load. The main purpose of the powered exoskeleton system is to amplify the load carrying capacity of a healthy operator; however, it can also be used
as an upper limb orthotic for physically impaired humans At the end of this project, a Gyro meter sensor for detecting the angular rate to find desired force and torque on elbow
movement have produced. The measurement of arm movement is important for load
estimation. Gyroscopes measure angular velocity, which can be used to estimate a change in orientation.
1.2 Problem statement
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