Design, Control and Implementation of Robotic Shoulder Girdle Using Electro Pneumatic System

Edric Joseph Z.  Cuaresma; Rienze Ronnell P.  Anda; Kier Adriane P.  Diamante; Paul Aarlo P.  Pragados; Allyzza M.  Reyes; Roselito E.  Tolentino

doi:10.70922/4chkn968

Authors

Edric Joseph Z. Cuaresma Polytechnic University of the Philippines - Santa Rosa Campus Author
Rienze Ronnell P. Anda Polytechnic University of the Philippines - Santa Rosa Campus Author
Kier Adriane P. Diamante Polytechnic University of the Philippines - Santa Rosa Campus Author
Paul Aarlo P. Pragados Polytechnic University of the Philippines - Santa Rosa Campus Author
Allyzza M. Reyes Polytechnic University of the Philippines - Santa Rosa Campus Author
Roselito E. Tolentino Polytechnic University of the Philippines - Santa Rosa Campus Author https://orcid.org/0000-0003-3599-5530 (unauthenticated)

DOI:

https://doi.org/10.70922/4chkn968

Abstract

The proponents used the concept of pneumatic actuators such as cylinders and rotary actuators to represent the muscles of human shoulder girdle. The pneumatic system is ideal in carrying heavy loads which need a great force to sustain. The proponents also used the directional solenoid valve to drive the pneumatic actuator’s motion. The valve has the ability to hold the air inside the cylinder because it traps the air from escaping the cylinder; thus, the proponents can maintain the position of the pneumatic actuator to achieve the desired angle of the robotic shoulder girdle. A wearable controller is also designed to measure the angle of DOF for the human movement. Through this the robot can mimic the different DOF movement of humans as well as providing enough force to carry the weight.

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