DocumentCode
259955
Title
Modular design and modeling of an upper limb exoskeleton
Author
Garrido, Javier ; Wen Yu ; Soria, Alberto
Author_Institution
Dept. of Autom. Control, CINVESTAV-IPN, Mexico City, Mexico
fYear
2014
fDate
12-15 Aug. 2014
Firstpage
508
Lastpage
513
Abstract
In this paper, we use modular design method to construct a 4-DoF (Degrees Of Freedom) upper limb exoskeleton. The structure is very simple, and is easy to be modified. Articulation of the exoskeleton is achieved four revolute joints: three for the shoulder and one for the elbow. Static and dynamic models of this exoskeleton are proposed. Experiments and analysis of the exoskeleton robot are carried out to evaluate the effectiveness of the design.
Keywords
medical robotics; patient rehabilitation; robot dynamics; telerobotics; 4-DoF upper limb exoskeleton; dynamic model; exoskeleton articulation; exoskeleton robot; modular design; patient rehabilitation; static model; Elbow; Exoskeletons; Friction; Joints; Robots; Shoulder; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
Biomedical Robotics and Biomechatronics (2014 5th IEEE RAS & EMBS International Conference on
Conference_Location
Sao Paulo
ISSN
2155-1774
Print_ISBN
978-1-4799-3126-2
Type
conf
DOI
10.1109/BIOROB.2014.6913828
Filename
6913828
Link To Document