Design and Experiments of an Upper-Limb Exoskeleton Robot

被引：0

作者：

Seo, Hwiwon ^{[1
]}

Lee, Sangyoon ^{[2
]}

机构：

[1] Konkuk Univ, Dept Mech Design & Prod Engn, Seoul 05029, South Korea

[2] Konkuk Univ, Dept Mech Engn, Seoul 05029, South Korea

来源：

2017 14TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI) | 2017年

基金：

新加坡国家研究基金会;

关键词：

Exoskeleton Robot; Upper-limb Exoskeleton; Human Performance Augmentation; Human-Robot Interaction;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents design of mechanical structure and control method for an upper-limb powered exoskeleton platform. The exoskeleton shoulder frame is composed of 3 revolution joints that are connected serially to enable 3 DOF motion of human shoulder. Interaction forces between a user and the robot are used to predict the user's intention of motion. A prototype and preliminary experiments are also reported in this paper.

引用

页码：807 / 808

页数：2

共 4 条

[1]

HeeDon Lee, 2008, SICE 2008 - 47th Annual Conference of the Society of Instrument and Control Engineers of Japan, P1755, DOI 10.1109/SICE.2008.4654948

[2] The technical trend of the exoskeleton robot system for human power assistance [J].

Lee, Heedon ;

Kim, Wansoo ;

Han, Jungsoo ;

Han, Changsoo .

INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, 2012, 13 (08) :1491-1497

[3]

Nam Y. S., 2009, THESIS

[4] Upper-limb powered exoskeleton design [J].

Perry, Joel C. ;

Rosen, Jacob ;

Bums, Stephen .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2007, 12 (04) :408-417

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