DocumentCode
3206009
Title
Simulation and Research on the Model of Rehabilitation Robot for Upper Limbs Based on Kane Equation
Author
Xue-Feng Zhu ; Jian-Hui Wang ; Na Chen ; Shu-Sheng Gu
Author_Institution
Sch. of Inf. Sci. & Eng., Northeastern Univ., Shenyang, China
fYear
2012
fDate
8-10 Dec. 2012
Firstpage
1583
Lastpage
1586
Abstract
In this paper, taking 5 DOF Rehabilitation robot for upper limbs as the study subject, the recursive kinetic equations of this system are obtained using Kane method combined with Newton kinematic principle. The motion model is established and validated. The efficiency of the whole arithmetic is improved without derivation calculation. This paper also provides an intuitional and effective environment for planning the trajectory of the rehabilitation robot.
Keywords
medical robotics; patient rehabilitation; robot kinematics; Kane equation; Kane method; Newton kinematic principle; five degrees of freedom; kinetic equations; rehabilitation robot trajectory; study subject; upper limbs; Equations; Force; Joints; Mathematical model; Robots; Torque; Trajectory; Kane equation; kinetics; motion model; rehabilitation robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Instrumentation, Measurement, Computer, Communication and Control (IMCCC), 2012 Second International Conference on
Conference_Location
Harbin
Print_ISBN
978-1-4673-5034-1
Type
conf
DOI
10.1109/IMCCC.2012.369
Filename
6429205
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