Development of a 6DOF exoskeleton robot for human upper-limb motion assist

R. A R C Gopura, Kazuo Kiguchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

20 Citations (Scopus)

Abstract

The upper-limb motions are essential to perform the daily activities. This paper proposes a six degree of freedom (6DOF) upper-limb motion power assist exoskeleton robot for shoulder vertical and horizontal flexion/extension motion, elbow flexion/extension motion, forearm supination/pronation motion, wrist flexion/extension motion and wrist radial/ulnar deviation motion. The axes offset of wrist joint and the moving center of rotation (CR) of shoulder joint are applied in the hardware design of the exoskeleton robot. The robot is named as SUEFUL-6 to indicate 6DOF Saga University Exoskeleton For Upper-Limb. The paper describes the anatomy details of upper-limb towards the development of the exoskeleton robot and the hardware design of the exoskeleton robot. Experiments have been performed to evaluate the effectiveness of the hardware design of the proposed exoskeleton robot.

Original languageEnglish
Title of host publicationProceedings of the 2008 4th International Conference on Information and Automation for Sustainability, ICIAFS 2008
Pages13-18
Number of pages6
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event2008 4th International Conference on Information and Automation for Sustainability, ICIAFS 2008 - Colombo, Sri Lanka
Duration: Dec 12 2008Dec 14 2008

Other

Other2008 4th International Conference on Information and Automation for Sustainability, ICIAFS 2008
CountrySri Lanka
CityColombo
Period12/12/0812/14/08

All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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  • Cite this

    Gopura, R. A. R. C., & Kiguchi, K. (2008). Development of a 6DOF exoskeleton robot for human upper-limb motion assist. In Proceedings of the 2008 4th International Conference on Information and Automation for Sustainability, ICIAFS 2008 (pp. 13-18). [4783986] https://doi.org/10.1109/ICIAFS.2008.4783986