Force analysis of exoskeletal robotic orthoses and its application to mechanical design

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Volumn 2, Issue , 2004, Pages 1648-1655

  Nagai, Kiyoshi ^a   Nakanishi, Isao ^b  

^a RITSUMEIKAN UNIVERSITY   (Japan)

^b Tome R and D Inc   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; BIOMECHANICS; DEGREES OF FREEDOM (MECHANICS); JOINTS (STRUCTURAL COMPONENTS); MATHEMATICAL MODELS; MOTION PLANNING; PROBLEM SOLVING; STRUCTURAL DESIGN;

MECHANICAL DESIGN; MECHANICAL SAFETY; ROBOTIC ORTHOSES; TORQUE LIMITERS;

ROBOTICS;

EID: 14044275760     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (16)

1. G. R. Johnson, D. A. Carus, G. Parrini, S. S. Marchese and R. Valeggi: "The design of a five-degree-of-freedom powered orthosis for the upper limb," Proceedings of the Institution of Mechanical Engineers, vol.215, Part H, pp.275-284, 2001.
2. K. Kiguchi, M. Yasuda, K. Iwami, K. Watanabe, T. Fukuda: "Design of an Exoskeletal Robot for Human Shoulder Motion Support Considering a Center of Rotation of the Shoulder Joint," Proceedings of the 2002 IEE/RSJ International Conference on Intelligent Robots and Systems, pp.1493-1498.
3. T. Rahman, W. Sample and R. Seliktar: "Design and Testing of WREX," Proceedings of the 8th International Conference on Rehabilitation Robotics, pp. 139-142, 2003.
4. T. Mitsuda, S. Kuge, M. Wakabayashi, S. Kawamura: "Development of a Particle Mechanical Constraint of Variable Stiffness with Application to a Wearable Force Display," Transactions of the Society of Instrument and Control Engineers, vol.37, no.12, pp.1134-1139, 2001(in Japanese).
5. H. Kazerooni: "Human-Robot Interaction via the Transfer of Power and Information Signals," IEEE Transactions on Systems, Man, and Cybernetics, vol.20, no.2, pp.450-463, 1990
6. Electric Human Powered Extenders(Arms): http://www.me.berkeley.edu/hel/ arms.html
7. T. Koyama, K. Yamafuji and T. Tanaka: "Wearable Human-Assisting System for Nursing Use. 1st Report. Concepts, Design of System and Development of a Prototype," Ninon Kikai Gakkai Ronbunsu C, vol.66, no.651, pp.155-160, 2000(in Japanese).
8. K. Yamamoto, M. Ishii, K. Hyodo, T. Yoshimitsu and T.Matsuo: "Development of Power Assisting Suit (Miniaturization of Supply System to Realize Wearable Suit," JSME International Journal Series C: Mechanical Systems,Machine Elements and Manufacturing, vol.46, no.3, pp.923-930, 2003.
9. T. Aoki, K. Taguchi: "A Study of Human-Assist-Robot -Development of a Prototype Robot for Nursing Use-" Journal of the Robotic Society of Japan, vol.21, no.2, pp.157-163, 2003(in Japanese).
10. K. Nagai, I. Nakanishi, H. Hanafusa, S. Kawamura, M. Makikawa, and N. Tejima: "Development of an 8 DOF Robotic Orthosis for Assisting Human Upper Limb Motion," Proceedings of the 1998 IEEE International Conference on Robotics and Automation, pp.3486-3491, 1998.
11. K. Nagai, I. Nakanishi, H. Hanafusa, S. Kawamura, M. Makikawa, and N. Tejima: "Mechanical Design of a Robotic Orthosis Assisting Human Motion," Proceedings of the 3rd International Conference on Advanced Mechatronics, pp.436-441, 1998.
12. K. Nagai and I. Nakanishi: "Analysis of Exoskeletal Robotic Orthoses Concerning Possibility of Assistance and User's Safety," Proceedings of the 2003 IEEE International Workshop on Robot and Human Interactive Communication, pp.73-78, 2003.
13. X.-Z. Zheng, N. Tomochika and T. Yoshikawa: "Dynamic Manipulability of Multiple Robotic Mechanism in Coordinated Manipulation," Journal of the Robotic Society of Japan, vol.11, no.6, pp.892-900, 1993(in Japanese).
14. X.-Y. Zhang, Y. Nakamura and K. Yoshimoto: "Mechanical Analysis of Grasps with Defective Contacts Using Polyhedral Convex Set Theory," Journal of the Robotic Society of Japan, vol.14, no.1, pp.105-113, 1996(in Japanese).
15. V. Chvatal: "Linear Programming," W. H. Freeman and Company, 1983.
16. H. Hirukawa, T. Matsui and K. Takase: "A Fast Algorithm for the Analysis of the Constraint for Motion of Polyhedra in Contact and its Application to Departure Motion Planning," Journal of the Robotic Society of Japan, vol.9, no.7, pp.841-848, 1991(in Japanese).