Kinematic analysis of 7 degrees of freedom upper-limb exoskeleton robot with tilted shoulder abduction View Full Text


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

2013-01

AUTHORS

Byoung Gook Loh, Jacob Rosen

ABSTRACT

An exoskeleton robot is a hybrid between human and robot where the two are mechanically integrated to function as one intelligent as well as powerful robot. This study presents a kinematic analysis of 7degrees of freedom (DOF) exoskeleton robot with its base rotational axis skewed to avoid singularity within workspace and to maximize ease of movement in all directions. The tilt of the base rotational axis configures the exoskeleton robot into an initial posture to which it is difficult to identify a geometric transformation from a kinematical model with all joint angels set to zero. When the limbs of the exoskeleton robot are configured either vertical or parallel to the ground, the resulting configuration can be initialized and then, ensuing kinematic analysis can be more conveniently performed from this nominal configuration. An analytical relationship defining a geometric transformation from the skewed configuration to the user-defined nominal configuration is developed and an explicit closed-form inverse kinematic solution for the 7 DOF exoskeleton robot is also presented. More... »

PAGES

69-76

References to SciGraph publications

  • 2011-04. A dexterous robot hand with a bio-mimetic mechanism in INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING
  • 2003-07. Upper Limb Robot Mediated Stroke Therapy—GENTLE/s Approach in AUTONOMOUS ROBOTS
  • 2003-07. Development and Control of a ‘Soft-Actuated’ Exoskeleton for Use in Physiotherapy and Training in AUTONOMOUS ROBOTS
  • 2000. Rehabilitators, Robots, and Guides: New Tools for Neurological Rehabilitation in BIOMECHANICS AND NEURAL CONTROL OF POSTURE AND MOVEMENT
  • Identifiers

    URI

    http://scigraph.springernature.com/pub.10.1007/s12541-013-0011-4

    DOI

    http://dx.doi.org/10.1007/s12541-013-0011-4

    DIMENSIONS

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