The development of a new joint mechanism based on human shoulder morphology

Nobuo Sakai, Yoshinori Sawae, Teruo Murakami

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

7 被引用数 (Scopus)

抄録

The purpose of this study was to develop a new joint system based on human shoulder mechanism. The human shoulder joint has a ball joint mechanism that is surrounded by a number of muscles and is driven by the balance of those forces. The authors thought that the construction could realize 3 degrees of freedom with compact size and lightweight. An anatomical skeletal structure had been introduced to the mechanism, especially on the muscle arrangement. Muscles were replaced by wires and humeral head was altered by a ball joint. The movability of the mechanism was evaluated by the relative ratio of the moment arm to the ball radius produced from the wires that surround the ball joint. Several rearrangements in improvement processes enabled the joint to be driven by 6 wires. Inverse kinematics was solved by artificial neural network (NN) that learned the data sets of arm postures and wire displacements. Additional differential outputs were installed in the NN. The principle of virtual work was applied to drive the joint by a feedback control system in the range of 3 degrees of freedom. The movability and capability of the new joint system was satisfactorily demonstrated in this report.

本文言語英語
ホスト出版物のタイトルProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
ページ982-987
ページ数6
DOI
出版ステータス出版済み - 12 22 2006
イベント1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, イタリア
継続期間: 2 20 20062 22 2006

出版物シリーズ

名前Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
2006

その他

その他1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
国/地域イタリア
CityPisa
Period2/20/062/22/06

All Science Journal Classification (ASJC) codes

  • 工学(全般)

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