Title :
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
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;
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.2012.6462929
