To successfully interact with a human the robotic exoskeleton has to exhibit both stiffness of its mechanical structure as well as compliance of its joints. The latter can be achieved by impedance control, which requires the use of a servo motor with inner torque control. In this thesis the implementation of impedance control of an upper-limb robotic exoskeleton is presented. First, relevant literature in the field of robotic exoskeletons is reviewed. In the following section the robotic exoskeleton EduExo Pro, which served as the starting point, is described and impedance control implementation is presented. The development of a system of mechanical and electronic components, which is needed to incorporate the servo motor with inner torque control in the exoskeleton, as well as development of the required software are described. Finally, the positionally controlled servo motor is compared to the servo motor with torque control by measuring the system's kinematics. The results showed that the accuracy and repeatability of the servo motor with torque control are higher than those of the positionally controlled servo motor.
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