Title :
Human-robot integrated model of upper-extremity
Author :
Hwan Taek Ryu ; Jae Yeon Choi ; Byung-Ju Yi ; Jiseok Lee ; Dae Je Kim ; Jisung Ko
Author_Institution :
Sch. of Electr. Eng. & Comput. Sci., Hanyang Univ., Ansan, South Korea
Abstract :
A new wearable robot for upper-extremity was designed for handling heavy weights. The human-robot integrated structure constitutes a closed-chain mechanism which allows a proper load distribution between the robot and the human. The kinematic and dynamic models for this human-robot integrated exoskeleton system were presented. Through the load distribution algorithm between the human and the robot, it was shown that the robot could withstand majority of the payload.
Keywords :
humanoid robots; robot dynamics; robot kinematics; closed chain mechanism; human robot integrated exoskeleton system; human robot integrated structure; load distribution algorithm; robot dynamics; robot kinematics; upper extremity; wearable robot; Ambient intelligence; Iron; Robots; Upper extremities; kinematic and dynamic modeling; load distribution algorithm;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4673-3111-1
Electronic_ISBN :
978-1-4673-3110-4
DOI :
10.1109/URAI.2012.6462917
