Multi-joint dummy robot for the performance evaluation of the upper-limb wearable robot

被引:0
作者
Bae, Min-Ho [1 ]
Gwak, Kwan-Woong [2 ]
机构
[1] Sejong Univ, Dept Elect Engn, Seoul 05006, South Korea
[2] Sejong Univ, Dept Mech Engn, Seoul 05006, South Korea
来源
2024 24TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, ICCAS 2024 | 2024年
关键词
Dummy robot; Upper-limb wearable robot; Performance evaluation; Quantitative evaluation;
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This study introduces and validates a multi-joint dummy robot designed specifically for the performance evaluation of upper-limb wearable robots. Current evaluation methods predominantly rely on biological signals or metabolic costs, which lack objectivity and reliability. The dummy robot mimics human arm movements and performs repetitive test motions, providing consistent experiment environment, for both cases with and without the wearable robot attached to assess its assistive effectiveness. Experimental results demonstrate the dummy robot's capability generating test motion accurately and repetitively is validated by root mean square error (PRMSE) of 2.922%, and 2.618% for trajectory tracking. Additionally, the muscular strength support performance index (MSSPI) quantifies the workload reduction facilitated by the wearable robot, evaluated at 21.5J, providing a quantitative assessment of the robot's effectiveness. This study proposes a new methodology for effective evaluation of the performance of upper-limb wearable robots, potentially advancing assistive robotic technologies.
引用
收藏
页码:1581 / 1582
页数:2
相关论文
共 2 条
[1]  
Carlson B, 2017, ADVANCES IN COOPERATIVE ROBOTICS, P143
[2]  
Lee C., 2024, Ph.D thesis