Egzoskeletna ruka pokretana umjetnim pneumatskim mišićima

undergraduate thesis

• Title (english): An exoskeleton hand powered by pneumatic artificial muscles
• Author: Tomislav Fajerbach
• Mentor: Željko Šitum (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2025-02-24, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Ovaj završni rad opisuje razvoj egzoskeleta ruke pokretanog pneumatskim mišićima, čije upravljanje omogućuje napravljeno tipkalo. Sustav je osmišljen s ciljem pomaganja osobama s oslabljenom funkcijom ruke, tako pružajući podršku pri izvođenju svakodnevnih aktivnosti. Egzoskelet koristi pneumatske mišiće, iz razloga što njihova sposobnost generiranja snažnih i prirodnih pokreta uz relativno malu masu i sigurnost u radu uvelike olakšava cijeli proces. Pritisak na tipkalo šalje signal, koji se zatim obrađuje pomoću Arduino mikrokontrolera i koristi za aktivaciju pneumatskog elektromagnetnog ventila. Time se omogućuje intuitivna kontrola sustava, gdje korisnik može aktivirati egzoskelet jednostavnim pritiskom i držanjem tipkala. Puštanjem tipkala isključuje se ventil.
Rad se u početku bavi projektiranjem konstrukcije ortoze egzoskeletne ruke pomoću CAD alata, a zatim izradom konstrukcije, energetskog dijela (samih pneumatskih mišića), upravljačke jedinice. Završava opisivanjem sklapanja svih sustava u cjelinu povezujući ih s upravljačkim sustavom preko Arduino mikrokontrolera.

Abstract (english)

This thesis describes the development of a hand exoskeleton powered by pneumatic muscles, controlled via a custom-made push button. The system is designed to assist individuals with reduced hand function, providing support for performing daily activities. The exoskeleton utilizes pneumatic muscles due to their ability to generate strong and natural movements while maintaining a relatively low weight and ensuring safe operation, which significantly simplifies the entire process. Pressing the push button sends a signal, which is then processed by an Arduino microcontroller and used to activate the pneumatic solenoid valve. This allows for intuitive system control, enabling the user to activate the exoskeleton with a simple press and hold of the button, while releasing the button deactivates the valve. The thesis initially focuses on designing the exoskeletal orthosis structure using CAD tools, followed by the construction of the frame, the power system (pneumatic muscles), and the control unit. It concludes with a description of assembling all subsystems into a complete unit.

• Keywords: egzoskelet; pneumatski mišići; upravljanje; elektromagnetski ventil; rehabilitacija; Arduino
• Keywords (english): exoskeleton; pneumatic muscles; control; electromagnetic valve; rehabilitation; Arduino
• Language: croatian
• URN:NBN: urn:nbn:hr:235:473127
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2025-02-21 13:53:35