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 language | English |
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| Title of host publication | Proceedings of the 2008 4th International Conference on Information and Automation for Sustainability, ICIAFS 2008 |
| Pages | 13-18 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2008 |
| Externally published | Yes |
| Event | 2008 4th International Conference on Information and Automation for Sustainability, ICIAFS 2008 - Colombo, Sri Lanka Duration: Dec 12 2008 → Dec 14 2008 |
Other
| Other | 2008 4th International Conference on Information and Automation for Sustainability, ICIAFS 2008 |
|---|---|
| Country/Territory | Sri Lanka |
| City | Colombo |
| Period | 12/12/08 → 12/14/08 |
All Science Journal Classification (ASJC) codes
- Computer Networks and Communications
- Computer Vision and Pattern Recognition
- Human-Computer Interaction
- Control and Systems Engineering