Upper Limb Motion Assist Robot
نویسندگان
چکیده
Abstract An upper limb motion assist robot to elderly and disabled people is proposed in this paper. The robot can be mounted on a wheelchair to actuate an elderly person’s upper limb three dimensionally by his will. A wrist of an arm is suspended, and actuated by a wire driven control system. A vibration reduction system is also developed to decrease the vibration occurred in the wire driven system. The wire driven control system is advantageous to design a compact, light weight, and low cost mechanism. In this paper, the concept of the robot, the mechanical structure of an experimental setup, mechanical characteristics, control system, experimental results are described.
منابع مشابه
A Real-time Motion Tracking Wireless System for Upper Limb Exosuit Based on Inertial Measurement Units and Flex Sensors (TECHNICAL NOTE)
This paper puts forward a real-time angular tracking (motion capture) system for a low cost upper limb exosuit based on sensor fusion; which is integrated by an elastic sleeve-mitten, two inertial measurement units (IMU), two flex sensors and a wireless communication system. The device can accurately detect the angular position of the shoulder (flexion-extension, abduction-adduction and interna...
متن کاملUpper Limb Flexion Assistance Based on Minimum-Jerk Trajectory Using Wearable Motion-Assist Robot
In this paper, we propose a robotic system to assist patients who have upper limb dysfunction in performing reaching movements through flexion. Since upper-limb motion is more strongly needed than lower limb mobility for near work, a patient’s level of recovery of upper-limb function influences daily life. Recently, with the widespread application of robotic technology in rehabilitation medicin...
متن کاملThe Effect of Impedance Parameters in 7DOF Upper-Limb Power-Assist Exoskeleton Robot
To assist daily life upper-limb motions of elderly or physically weak persons, many kinds of upper-limb power-assist robots have been developed. We have developed a 7DOF power-assist exoskeleton robot in which EMG-based impedance control is applied and the impedance parameters are adjusted in real time according to the upper-limb posture and EMG activity levels. The impedance parameters of huma...
متن کاملA Study on Human Upper-Limb Muscles Activities during Daily Upper-Limb Motions
Human upper-limb involves for many daily human activities. The human intention for upperlimb motions can be estimated based on the activation pattern of upper-limb muscles. The upper-limb muscle activities during the daily upper-limb motions have been studied to enable power-assist robotic exoskeleton systems to estimate human upper-limb motions based on muscle electromyographic (EMG) signals. ...
متن کاملGCUA Humanoid Robotic Hand with Tendon Mechanisms and Its Upper Limb
Upper limbs of human beings are extremely special and significant, which obtain crucial function to achieve manipulations intelligently and dexterously. Gesture-Changeable Under-Actuated (GCUA) grasping function is presented to improve the capability of robotic hands to achieve humanoid manipulations with low dependence on control and sensor feedback systems, which includes traditional under-ac...
متن کامل