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Title
Japanese: 
English:Kineto-static Analysis of a Wrist Rehabilitation Robot with Compliant Elements and Supplementary Passive Joints to Compensate the Joint Misalignment 
Author
Japanese: Ying-Chi Liu, 武田 行生.  
English: Ying-Chi Liu, Yukio Takeda.  
Language English 
Journal/Book name
Japanese: 
English: 
Volume, Number, Page        
Published date Oct. 26, 2019 
Publisher
Japanese: 
English: 
Conference name
Japanese: 
English:The 2nd International Jc-IFToMM Symposium 
Conference site
Japanese:神奈川県 
English:Kanagawa 
Abstract This paper presents a static force analysis on a wrist rehabilitation robot to predict the force caused by the misalignment of human and robot joint. Initial offset influence and the use of compliances between human and robot hand were investigated by using an analytical model. With human forearm in the horizontal plane, the initial offset in the direction of perpendicular to the forearm led to larger unwanted force, and the use of compliance can reduce the maximum unwanted force compared to the case without compliance. Moreover, adding supplementary passive joints to the exoskeleton was another approach for misalignment compensation. The comparisons of force acted on wrist joint were made and discussed.
Award Best Paper Award

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