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
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;
Conference_Titel :
Instrumentation, Measurement, Computer, Communication and Control (IMCCC), 2012 Second International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4673-5034-1
DOI :
10.1109/IMCCC.2012.369
