NDLI: A fundamental study of light and flexible wearable robot assisting to recover movement functions

Content Provider	IEEE Xplore Digital Library
Author	Ogata, K. Yamamoto, T.
Copyright Year	2014
Description	Author affiliation: Nat. Inst. of Inf. & Commun. Technol. & Grad. Sch. of Eng. Sci., Osaka Univ., Toyonaka, Japan (Yamamoto, T.) \|\| Dept. of Rehabilitation Eng. Res., Inst. Nat. Rehabilitation Center for Persons with Disabilities, Tokorozawa, Japan (Ogata, K.)
Abstract	Several exoskeleton robots have been developed for use in rehabilitation. These robots help users to execute transitive motion rehabilitation with power assist. We propose a new robotics system that executes automatic movement training using target motion instruction. The proposed robot is wearable with a flexible body like clothes, and is actuated using a wire-driven mechanism. The robotics system determines the desired posture based on the operator's posture. The robot executes a wire-driven force display based on the operator's pose and the target pose. We developed a prototype of this wearable robot, and verified the force display using wire-driven mechanism. Moreover, we proposed the multi-joint coordinated motion method, and evaluated the mechanical contribution of the proposed method quantitatively using computer simulations. The simulation results confirm that this robot can instruct the coordinated motion.
Starting Page	90
Ending Page	95
File Size	1366925
Page Count	6
File Format	PDF
ISBN	9781479967636
e-ISBN	9781479967650
DOI	10.1109/ROMAN.2014.6926235
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-25
Publisher Place	UK
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Force Robot sensing systems Elbow Joints
Content Type	Text
Resource Type	Article

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