Dexterity Measures for 4DOF Exoskeleton Robot

Anan Sutapun; Viboon Sangveraphunsiri

doi:10.4028/www.scientific.net/AMM.619.214

Paper Titles

Effect of Grain Size on Effective Permittivity of Ferroelectric Films Based on Effective Medium Theory
p.188

Mechanism Design and Manipulating Algorithm for Orientation Changing Module with Three Flexible Links
p.195

An Innovative Motion Planning for 4-DOF PKM
p.200

An Altitude Estimation Technique for Autonomous Landing of a Quad-Rotor Using a Vision System
p.209

Dexterity Measures for 4DOF Exoskeleton Robot
p.214

Weld Bead Tracking Control of a Magnetic Wheel Wall Climbing Robot Using a Laser-Vision System
p.219

Implementing Expandable Path for an Resizable Cobot
p.224

A μP-μC-FPGA Synergy Controller for a Linear Delta Robot
p.230

The Performance of a Delta Telerobot
p.236

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 619Dexterity Measures for 4DOF Exoskeleton Robot

Dexterity Measures for 4DOF Exoskeleton Robot

Abstract:

In this work, we investigate the measure of isotropy of a manipulator based on its Jacobian matrix. Our manipulator is an exoskeleton arm robot for human physical therapy. An exoskeleton arm robot is wearable robot with joints and links corresponding to those of the human body. Our goal is to derive dexterity measures called the measure of isotropy which can be used for both design and real-time control of a manipulator. Generally, a dexterity measure must be independent of the scale of a manipulator for design and must be expressed analytically so that it can be used for real-time control. Of course, every dexterity measure must bear a physical meaning.

You might also be interested in these eBooks

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volume 619)

Pages:

214-218

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.619.214

Citation:

Cite this paper

Online since:

August 2014

Authors:

Anan Sutapun, Viboon Sangveraphunsiri

Keywords:

Dexterity Measures, Exoskeleton Arm, Jacobian, Measure of Isotropy

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] S.E. Fasoli, et al., Effects of robotic therapy on motor impairment and recovery in chronic stroke,; Arch. Of Phys. Med. & Rehabil, vol. 84, pp.477-482, (2003).

Google Scholar

[2] N.A. Bayona, J. Bitendky, K. Salter, R. Teasell, The role of task-specific training in rehabilitation therapies, Top. Stroke Rehabil, vol. 12, no. 3, pp.58-68, Summer (2005).

DOI: 10.1310/bqm5-6ygb-mvj5-wvcr

Google Scholar

[3] N. Hogan, H.I. Krebs, J. Charnnarong, P. Srikrishna, A. Sharon, MIT-MANUS: a workstation for manual therapy and training. I, IEEE Proc. Intl. Workshop on Robot and Human Communication, pp.161-165, Sept. (1992).

DOI: 10.1109/roman.1992.253895

Google Scholar

[4] R. Loureiro, F. Amirabdollahian, M. Topping, B. Driessen, W. Harwin, Upper Limb Robot Mediated Stroke Therapy – GENTLE/s Approach, Special Issue on Rehabilitation Robotics Journal of Autonomous Robots (2003).

DOI: 10.1023/a:1024436732030

Google Scholar

[5] Jin-Oh Kim, K. Khosla, Dexterity Measures for Design and Control of Manipulators, IEEE/RSJ International Workshop on Intelligent Robots and System, pp.758-763, (1991).

DOI: 10.1109/iros.1991.174572

Google Scholar

[6] J.C. Perry and J. Rosen, Design of a 7 Degree-of-Freedom Upper-limb Powered Exoskeleton, IEEE/RAS-EMBS Int. Conf. Biomedical Robotics and Biomechatronics, Pisa, Italy, (2006).

DOI: 10.1109/biorob.2006.1639189

Google Scholar

[7] J. Rosen, J.C. Perry, N. Manning, S. Burns, B. Hannaford, The human arm Kinematics and dynamics during daily activities – toward a 7 DOF upper limb powered exoskeleton, " Proc. 12th Intl, Conf. on Advanced Robotics, ICAR , 05, pp.532-539, July (2005).

DOI: 10.1109/icar.2005.1507460

Google Scholar