Torque optimization for a 7DOF upper-limb power-assist exoskeleton robot

Yoshiaki Hayashi, Rajiv Dubey, Kazuo Kiguchi

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

4 Citations (Scopus)

Abstract

Many kinds of power-assist robots have been developed in order to assist daily life motions of the elderly or physically weak persons. A human upper-limb has 7 degrees of freedom to achieve various tasks dexterously. Therefore, to assist all upper-limb joint motions of a human, the upper-limb power-assist robot is required to have 7DOF. On the other hand, to achieve a desired task, a person moves own hand to the desired position and orientation. For this reason, the hand position or hand force must be focused to be controlled by the upper-limb power-assist robots. However, the hand position or hand force is 6-dimensional vector, so the 7DOF upper-limb power-assist robot has a redundancy and in general, a pseudo-inverse matrix is used in the control. In this paper, the torque optimization for an upper-limb power-assist exoskeleton robot using the pseudo-inverse matrix is discussed. The effectiveness of the proposed method was evaluated by the experiments.

Original languageEnglish
Title of host publicationIEEE SSCI 2011
Subtitle of host publicationSymposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space
Pages49-54
Number of pages6
DOIs
Publication statusPublished - Aug 12 2011
Externally publishedYes
EventSymposium Series on Computational Intelligence, IEEE SSCI 2011 - 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RIISS 2011 - Paris, France
Duration: Apr 11 2011Apr 15 2011

Publication series

NameIEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space

Other

OtherSymposium Series on Computational Intelligence, IEEE SSCI 2011 - 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RIISS 2011
CountryFrance
CityParis
Period4/11/114/15/11

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Information Systems

Fingerprint Dive into the research topics of 'Torque optimization for a 7DOF upper-limb power-assist exoskeleton robot'. Together they form a unique fingerprint.

  • Cite this

    Hayashi, Y., Dubey, R., & Kiguchi, K. (2011). Torque optimization for a 7DOF upper-limb power-assist exoskeleton robot. In IEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space (pp. 49-54). [5945786] (IEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space). https://doi.org/10.1109/RIISS.2011.5945786