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

Yoshiaki Hayashi, Rajiv Dubey, Kazuo Kiguchi

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

7 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトルIEEE SSCI 2011
ホスト出版物のサブタイトルSymposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space
ページ49-54
ページ数6
DOI
出版ステータス出版済み - 8月 12 2011
外部発表はい
イベントSymposium Series on Computational Intelligence, IEEE SSCI 2011 - 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RIISS 2011 - Paris, フランス
継続期間: 4月 11 20114月 15 2011

出版物シリーズ

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

その他

その他Symposium Series on Computational Intelligence, IEEE SSCI 2011 - 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RIISS 2011
国/地域フランス
CityParis
Period4/11/114/15/11

!!!All Science Journal Classification (ASJC) codes

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 情報システム

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