Title :
Development of an 8 DOF robotic orthosis for assisting human upper limb motion
Author :
Nagai, Kiyoshi ; Nakanishi, Isao ; Hanafusa, Hideo ; Kawamura, Sadao ; Makikawa, Masaaki ; Tejima, Noriyuki
Author_Institution :
Ritsumeikan Univ., Kyoto, Japan
Abstract :
We developed a robotic orthosis capable of helping human forearm motion. This orthosis was carefully designed such that mechanical safety for human beings could be ensured. A power assist control scheme for the robotic orthosis is proposed. The performance of the developed system is examined by several experiments
Keywords :
manipulators; orthotics; 8-DOF robotic orthosis; human forearm motion; human upper limb motion; mechanical safety; power assist control scheme; Force measurement; Humans; Manufacturing; Motion measurement; Position measurement; Power system reliability; Robots; Security; Software safety; Switches;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.680977
