NDLI: Resolving the redundancy of a seven DOF wearable robotic system based on kinematic and dynamic constraint

Content Provider	IEEE Xplore Digital Library
Author	Hyunchul Kim Zhi Li Milutinovic, D. Rosen, J.
Copyright Year	2012
Description	Author affiliation: Dept. of Electrical Engineering, University of California Santa Cruz, USA (Hyunchul Kim) \|\| Dept. of Computer Engineering, University of California Santa Cruz, USA (Zhi Li; Rosen, J.) \|\| Dept. of Applied Mathematics & Statistics, University of California Santa Cruz, USA (Milutinovic, D.)
Abstract	According to the seven degrees of freedom (DOFs) human arm model composed of the shoulder, elbow, and wrist joints, positioning of the wrist in space and orientating the palm is a task requiring only six DOFs. Due to this redundancy, a given task can be completed by multiple arm configurations, and there is no unique mathematical solution to the inverse kinematics. The redundancy of a wearable robotic system (exoskeleton) that interacts with the human is expected to be resolved in the same way as that of the human arm. A unique solution to the system's redundancy was introduced by combining both kinematic and dynamic criteria. The redundancy of the arm is expressed mathematically by defining the swivel angle: the rotation angle of the plane including the upper and lower arm around a virtual axis connecting the shoulder and wrist joints which are fixed in space. Two different swivel angles were generated based on kinematic and dynamic constraints. The kinematic criterion is to maximize the projection of the longest principle axis of the manipulability ellipsoid for the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each two consecutive points along the task space trajectory. These two criteria were then combined linearly with different weight factors for estimating the swivel angle. Post processing of experimental data collected with a motion capturing system indicated that by using the proposed synthesis of redundancy resolution criteria, the error between the predicted swivel angle and the actual swivel angle adopted by the motor control system was less then five degrees. This result outperformed the prediction based on a single criteria.
Starting Page	305
Ending Page	310
File Size	1986073
Page Count	6
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6224830
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humans Joints Kinematics Wrist Elbow Redundancy Dynamics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Resolving the redundancy of a seven dof wearable robotic system based on kinematic and dynamic constraint (2012)

Redundancy resolution of a human arm for controlling a seven DOF wearable robotic system

Resolving the redundancy of a seven dof wearable robotic system based on kinematic and dynamic constraint.

Kinematic analysis and synthesis of the human arm motion during a manipulation task

The 20-DOF miniature humanoid MH-2: A wearable communication system

Mechanical design and control of the new 7-DOF CyberMotion simulator

Experimental validation of the influence of kinematic redundancy on the pose accuracy of parallel kinematic machines

General formulation of the singularity locus for a 3-dof regional manipulator

A constraint-based programming approach to physical human-robot interaction

Resolving the redundancy of a seven DOF wearable robotic system based on kinematic and dynamic constraint

Similar Documents

Resolving the redundancy of a seven dof wearable robotic system based on kinematic and dynamic constraint (2012)

Redundancy resolution of a human arm for controlling a seven DOF wearable robotic system

Resolving the redundancy of a seven dof wearable robotic system based on kinematic and dynamic constraint.

Kinematic analysis and synthesis of the human arm motion during a manipulation task

The 20-DOF miniature humanoid MH-2: A wearable communication system

Mechanical design and control of the new 7-DOF CyberMotion simulator

Experimental validation of the influence of kinematic redundancy on the pose accuracy of parallel kinematic machines

General formulation of the singularity locus for a 3-dof regional manipulator

A constraint-based programming approach to physical human-robot interaction

Resolving the redundancy of a seven DOF wearable robotic system based on kinematic and dynamic constraint