Title :
Redundant upper limb exoskeleton robot with passive compliance
Author :
Gunasekara, J.M.P. ; Gopura, R.A.R.C. ; Jayawardena, T.S.S.
Author_Institution :
Dept. of Mech. Eng., Univ. of Moratuwa, Moratuwa, Sri Lanka
Abstract :
Enhancing physical Human-Robot Interaction (pHRI) is an important design aspect in upper limb exoskeleton robots. The level of manipulation provided by an exoskeleton robot has a significant effect to perform daily tasks. This paper evaluate performance of a 6 degree of freedom (DoF) upper limb exoskeleton robot. The detailed mechanical design of the robot is presented with the novel features included in order to improve the pHRL The exoskeleton robot consists of six DoF and two flexible bellow couplings are used to provide translational DoF at wrist and elbow joints. Moreover, flexible bellow couplings are positioned at specific locations in order to enhance the kinematic redundancy. The benefit of compliance due to the flexible bellow coupling at wrist joint of the robot is verified with reference to manipulability variation of the kinematic model of human lower arm.
Keywords :
couplings; design engineering; human-robot interaction; medical robotics; robot kinematics; detailed mechanical design; elbow joints; flexible bellow couplings; human lower arm; kinematic redundancy; manipulability variation; manipulation level; pHRI; passive compliance; physical human-robot interaction; redundant upper limb exoskeleton robot; translational DoF; wrist joints; Bellows; Couplings; Exoskeletons; Joints; Kinematics; Robots; Wrist; compliance; exoskeleton; manipulability; redundancy;
Conference_Titel :
Information and Automation for Sustainability (ICIAfS), 2014 7th International Conference on
DOI :
10.1109/ICIAFS.2014.7069595
