- Tytuł:
- Control of a redundant 7DOF upper-limb power-assist exoskeleton robot
- Autorzy:
-
Hayashi, Y.
Kiguchi, K.
Dubey, R. - Powiązania:
- https://bibliotekanauki.pl/articles/91596.pdf
- Data publikacji:
- 2011
- Wydawca:
- Społeczna Akademia Nauk w Łodzi. Polskie Towarzystwo Sieci Neuronowych
- Tematy:
-
power-assist robot
upper limb
power-assist
7DOF
position
orientation
pseudo-inverse matrix
redundancy
optimal control - Opis:
- Many kinds of power-assist robots have been developed in order to assist daily activities or rehabilitation of the elderly or physically weak persons. Upper-limb power-assist robots are important to assist in many daily life activities such as eating, drinking, etc.. A human upper-limb has 7 degrees of freedom to achieve various tasks dexterously. Therefore, to assist all upper-limb joint motions of a human, the upper-limb power-assist robot is required to have 7DOF. To achieve a desired task, a person moves the hand to the desired position and orientation and/or applies certain amount of force to the target. Therefore, it is important that the upper-limb power-assist robots help control the hand position/ orientation or hand force of the user. However, the hand position/orientation or hand force is 6-dimensional vector, so the 7DOF upper-limb power-assist robot has a redundancy and in general, a pseudo-inverse matrix is used in the control. In this paper, an optimal control method is proposed to deal with the redundancy of the upper-limb power-assist exoskeleton robot considering comfortable motion of the user. The motion intention and the comfort of the user are taken into account in the pro-posed method. The effectiveness of the proposed method was evaluated by the experiments.
- Źródło:
-
Journal of Artificial Intelligence and Soft Computing Research; 2011, 1, 3; 207-214
2083-2567
2449-6499 - Pojawia się w:
- Journal of Artificial Intelligence and Soft Computing Research
- Dostawca treści:
- Biblioteka Nauki
Artykuł