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

R. A R C Gopura, Kazuo Kiguchi

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

22 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトルProceedings of the 2008 4th International Conference on Information and Automation for Sustainability, ICIAFS 2008
ページ13-18
ページ数6
DOI
出版ステータス出版済み - 2008
外部発表はい
イベント2008 4th International Conference on Information and Automation for Sustainability, ICIAFS 2008 - Colombo, スリランカ
継続期間: 12 12 200812 14 2008

その他

その他2008 4th International Conference on Information and Automation for Sustainability, ICIAFS 2008
Countryスリランカ
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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