Design of an exoskeletal robot for human shoulder motion support considering a center of rotation of the shoulder joint
The exoskeletal robots are expected to support the daily activities of physically weak persons such as elderly persons or handicapped persons in these days. In our previous research, the exoskeletal robots for elbow or shoulder motion support have been developed since the elbow and shoulder motion i...
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| creator | Kiguchi, K. Yasuda, M. Iwami, K. Watanabe, K. Fukuda, T. |
| description | The exoskeletal robots are expected to support the daily activities of physically weak persons such as elderly persons or handicapped persons in these days. In our previous research, the exoskeletal robots for elbow or shoulder motion support have been developed since the elbow and shoulder motion is especially important for people to perform tasks in everyday life. In this paper, we present a mechanism of the moving center of rotation of the shoulder joint of the exoskeletal robot for human shoulder motion support in order to fit the center of rotation of the robot shoulder joint to that of the physiological human shoulder joint during the shoulder motion. The effectiveness of the proposed mechanism of the robot has been evaluated by experiment. |
| doi_str_mv | 10.1109/IRDS.2002.1043966 |
| format | Conference Proceeding |
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In our previous research, the exoskeletal robots for elbow or shoulder motion support have been developed since the elbow and shoulder motion is especially important for people to perform tasks in everyday life. In this paper, we present a mechanism of the moving center of rotation of the shoulder joint of the exoskeletal robot for human shoulder motion support in order to fit the center of rotation of the robot shoulder joint to that of the physiological human shoulder joint during the shoulder motion. The effectiveness of the proposed mechanism of the robot has been evaluated by experiment.</description><identifier>ISBN: 0780373987</identifier><identifier>ISBN: 9780780373983</identifier><identifier>DOI: 10.1109/IRDS.2002.1043966</identifier><language>eng</language><publisher>Piscataway NJ: IEEE</publisher><subject>Applied sciences ; Artificial intelligence ; Chromium ; Computer science; control theory; systems ; Control theory. Systems ; Elbow ; Electromyography ; Exact sciences and technology ; Humans ; Joints ; Muscles ; Pattern recognition. Digital image processing. Computational geometry ; Robotics ; Robots ; Senior citizens ; Shoulder</subject><ispartof>IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002, Vol.2, p.1493-1498 vol.2</ispartof><rights>2004 INIST-CNRS</rights><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/1043966$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,776,780,785,786,2052,4036,4037,27902,54895</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/1043966$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc><backlink>$$Uhttp://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=15672219$$DView record in Pascal Francis$$Hfree_for_read</backlink></links><search><creatorcontrib>Kiguchi, K.</creatorcontrib><creatorcontrib>Yasuda, M.</creatorcontrib><creatorcontrib>Iwami, K.</creatorcontrib><creatorcontrib>Watanabe, K.</creatorcontrib><creatorcontrib>Fukuda, T.</creatorcontrib><title>Design of an exoskeletal robot for human shoulder motion support considering a center of rotation of the shoulder joint</title><title>IEEE/RSJ International Conference on Intelligent Robots and Systems</title><addtitle>IRDS</addtitle><description>The exoskeletal robots are expected to support the daily activities of physically weak persons such as elderly persons or handicapped persons in these days. In our previous research, the exoskeletal robots for elbow or shoulder motion support have been developed since the elbow and shoulder motion is especially important for people to perform tasks in everyday life. In this paper, we present a mechanism of the moving center of rotation of the shoulder joint of the exoskeletal robot for human shoulder motion support in order to fit the center of rotation of the robot shoulder joint to that of the physiological human shoulder joint during the shoulder motion. The effectiveness of the proposed mechanism of the robot has been evaluated by experiment.</description><subject>Applied sciences</subject><subject>Artificial intelligence</subject><subject>Chromium</subject><subject>Computer science; control theory; systems</subject><subject>Control theory. Systems</subject><subject>Elbow</subject><subject>Electromyography</subject><subject>Exact sciences and technology</subject><subject>Humans</subject><subject>Joints</subject><subject>Muscles</subject><subject>Pattern recognition. Digital image processing. Computational geometry</subject><subject>Robotics</subject><subject>Robots</subject><subject>Senior citizens</subject><subject>Shoulder</subject><isbn>0780373987</isbn><isbn>9780780373983</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2002</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpFkE1LAzEQhgMiqLU_QLzk4rF18rGbzVFarYWC4Me5zO5m29RtsiQp6r83WKFzmXlnnnlhhpAbBlPGQN8vX-dvUw7Apwyk0GV5Rq5AVSCU0JW6IOMYd5BDykJofUm-5ibajaO-o-io-fbx0_QmYU-Dr32inQ90e9jnWdz6Q9-aQPc-WZ_1YRh8SLTxLtrct25DkTbGpcxku-AT_oG5Tltz2t9569I1Oe-wj2b8n0fk4-nxffY8Wb0slrOH1cQyUaRJJ4FpqdsaG4FtBR3IQrKqVcBLVgisTVFrrVC1WUngvGnz3chMXSmuJYgRuTv6Dhgb7LuArrFxPQS7x_CzZkWpOGc6c7dHzhpjTuPjD8UvMcNoiw</recordid><startdate>2002</startdate><enddate>2002</enddate><creator>Kiguchi, K.</creator><creator>Yasuda, M.</creator><creator>Iwami, K.</creator><creator>Watanabe, K.</creator><creator>Fukuda, T.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope><scope>IQODW</scope></search><sort><creationdate>2002</creationdate><title>Design of an exoskeletal robot for human shoulder motion support considering a center of rotation of the shoulder joint</title><author>Kiguchi, K. ; Yasuda, M. ; Iwami, K. ; Watanabe, K. ; Fukuda, T.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i135t-f401949dbac3ad80f045418d7026153abe5b997a7d1534022cd104a1eb8729403</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2002</creationdate><topic>Applied sciences</topic><topic>Artificial intelligence</topic><topic>Chromium</topic><topic>Computer science; control theory; systems</topic><topic>Control theory. Systems</topic><topic>Elbow</topic><topic>Electromyography</topic><topic>Exact sciences and technology</topic><topic>Humans</topic><topic>Joints</topic><topic>Muscles</topic><topic>Pattern recognition. Digital image processing. Computational geometry</topic><topic>Robotics</topic><topic>Robots</topic><topic>Senior citizens</topic><topic>Shoulder</topic><toplevel>online_resources</toplevel><creatorcontrib>Kiguchi, K.</creatorcontrib><creatorcontrib>Yasuda, M.</creatorcontrib><creatorcontrib>Iwami, K.</creatorcontrib><creatorcontrib>Watanabe, K.</creatorcontrib><creatorcontrib>Fukuda, T.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection><collection>Pascal-Francis</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Kiguchi, K.</au><au>Yasuda, M.</au><au>Iwami, K.</au><au>Watanabe, K.</au><au>Fukuda, T.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Design of an exoskeletal robot for human shoulder motion support considering a center of rotation of the shoulder joint</atitle><btitle>IEEE/RSJ International Conference on Intelligent Robots and Systems</btitle><stitle>IRDS</stitle><date>2002</date><risdate>2002</risdate><volume>2</volume><spage>1493</spage><epage>1498 vol.2</epage><pages>1493-1498 vol.2</pages><isbn>0780373987</isbn><isbn>9780780373983</isbn><abstract>The exoskeletal robots are expected to support the daily activities of physically weak persons such as elderly persons or handicapped persons in these days. In our previous research, the exoskeletal robots for elbow or shoulder motion support have been developed since the elbow and shoulder motion is especially important for people to perform tasks in everyday life. In this paper, we present a mechanism of the moving center of rotation of the shoulder joint of the exoskeletal robot for human shoulder motion support in order to fit the center of rotation of the robot shoulder joint to that of the physiological human shoulder joint during the shoulder motion. The effectiveness of the proposed mechanism of the robot has been evaluated by experiment.</abstract><cop>Piscataway NJ</cop><pub>IEEE</pub><doi>10.1109/IRDS.2002.1043966</doi><tpages>6</tpages></addata></record> |
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| identifier | ISBN: 0780373987 |
| ispartof | IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002, Vol.2, p.1493-1498 vol.2 |
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| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Applied sciences Artificial intelligence Chromium Computer science control theory systems Control theory. Systems Elbow Electromyography Exact sciences and technology Humans Joints Muscles Pattern recognition. Digital image processing. Computational geometry Robotics Robots Senior citizens Shoulder |
| title | Design of an exoskeletal robot for human shoulder motion support considering a center of rotation of the shoulder joint |
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