Title :
Development of upper-limb exoskeleton simulator for passive rehabilitation
Author :
Jian-Bin Huang ; Jing-Chen Hong ; Kuu-Young Young ; Chun-Hsu Ko
Author_Institution :
Dept. of Electr. Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan
Abstract :
Due to the progress in robotics, exoskeleton has been applied in rehabilitation for those enduring damage in central nervous system, spinal cord, and others. In this kind if application, the main concern is the safety of the user, as he/she is closely connected to the exoskeleton. That means the developed exoskeleton needs be carefully evaluated in each aspect of the design. For this purpose, we develop a simulator for general types of upper-limb exoskeletons. To make it realistic, this simulator considers kinematics, dynamics, path planning, control, and also human factor. For demonstration, we apply it to our developed upper-limb exoskeleton, HAMEXO-I, which is designed for passive rehabilitation.
Keywords :
robots; central nervous system; dynamics; exoskeleton; human factor; kinematics; passive rehabilitation; path planning; spinal cord; upper limb exoskeleton simulator development; DC motors; Elbow; Exoskeletons; Joints; Mathematical model; Path planning; Robots; Exoskeleton; Human Factor; Rehabilitation; Simulator;
Conference_Titel :
Automatic Control Conference (CACS), 2014 CACS International
Print_ISBN :
978-1-4799-4586-3
DOI :
10.1109/CACS.2014.7097212