• DocumentCode
    596340
  • 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
  • fYear
    2012
  • fDate
    26-28 Nov. 2012
  • Firstpage
    7
  • Lastpage
    9
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • 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
  • Type

    conf

  • DOI
    10.1109/URAI.2012.6462917
  • Filename
    6462917
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=596340