KULEX: ADL power assistant robotic system for the elderly and the disabled (Abstract for video)

Author

Manbok Hong ; Sin Jung Kim ; Keehoon Kim

Author_Institution

Interaction & Robot. Res. Center, Korea Inst. of Sci. & Technol., Seoul, South Korea

fYear

2013

fDate

Oct. 30 2013-Nov. 2 2013

Firstpage

121

Lastpage

122

Abstract

A new robotic system for upper-limb power assistance of the elderly and the disabled has been developed. It is composed of the three main modules, 1-DOF under-actuated hand module for the assistance of hand grasp motion, 3-DOF exoskeleton-type parallel wrist mechanism for wrist power assistance, and 6-DOF serial chain in order to assist an arbitrary movement of an operator´s forearm. The operating capability of the proposed robot is observed from a demonstration of the robot performing some activities-of-daily-living (ADL) tasks such as picking up a pen with pinch grasp, gripping an object with power grasp, and brushing teeth.

Keywords

artificial limbs; geriatrics; handicapped aids; manipulators; motion control; service robots; 1DOF under-actuated hand module; 3DOF exoskeleton-type parallel wrist mechanism; 6DOF serial chain; ADL power assistant robotic system; ADL task; KULEX; activities-of-daily-living task; arbitrary movement; disabled person; elderly person; hand grasp motion; operating capability; operator forearm; upper-limb power assistance; wrist power assistance; Exoskeleton; power assistance robot; rehabilitation robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on

Conference_Location

Jeju

Print_ISBN

978-1-4799-1195-0

Type

conf

DOI

10.1109/URAI.2013.6677487

Filename

6677487