Modular joint unit design for arm exoskeleton robot

Author

Dong Hoon Cha ; Dong Yeop Kim ; Tae-Keun Kim ; Seung Hwan Lim ; Jongsu Yoon ; Bongseok Kim

Author_Institution

Intell. Robot. Res. Center, Korea Electron. Technol. Inst., Seongnam, South Korea

fYear

2012

fDate

26-28 Nov. 2012

Firstpage

55

Lastpage

57

Abstract

Exoskeleton robots have been used for rehabilitation in many areas. In order to comprise arm exoskeleton robot, a modular joint unit is proposed. As a module, this unit contains everything for joint actuating. Motor, encoder, harmonic drive, brake, cross roller bearing, and joint torque sensor are included in this unit. Because this unit is applied to exoskeleton robot, the joint torque sensor is important for human machine interface (HMI). Joint torque sensor performance is verified with FEM analysis.

Keywords

finite element analysis; human-robot interaction; manipulators; medical robotics; patient rehabilitation; FEM analysis; HMI; arm exoskeleton robot; brake; cross roller bearing; encoder; harmonic drive; human machine interface; joint torque sensor; modular joint unit design; motor; patient rehabilitation; Ambient intelligence; Robots; Modular joint unit; actuator module; joint torque sensor;

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.2012.6462929

Filename

6462929