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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | HeeDon Lee SeungNam Yu Seunghoon Lee JungSoo Han ChangSoo Han |
| Copyright Year | 2008 |
| Description | Author affiliation: Dept. of Mech. Eng., Hanyang Univ., Seoul (HeeDon Lee; SeungNam Yu; Seunghoon Lee; JungSoo Han; ChangSoo Han) |
| Abstract | We suggest a human-robot interfacing method of a wearable robot for assistive human upper extremities. It connects the human and the robot with the multi-axis load-cell, and it measures the relative force between the human and the robot. The control system calculates the trajectory of end-effector using this force signal. In this paper, we verify the performance of proposed system through the motion of elbow E/F (extension/flexion), the shoulder E/F, and the shoulder Ab/Ad(abduction/adduction). We generated the command signal using the human-robot interfacing method so that a user would be able to operate the wearable robot of 6-DOF. And, we performed subsequent capability and force assistance experiments for performance verification of the proposed this method. |
| Starting Page | 1755 |
| Ending Page | 1760 |
| File Size | 4528674 |
| Page Count | 6 |
| File Format | |
| ISBN | 9784907764302 |
| DOI | 10.1109/SICE.2008.4654948 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2008-08-20 |
| Publisher Place | Japan |
| Access Restriction | Subscribed |
| Rights Holder | SICE |
| Subject Keyword | Command signal Wearable Robot Human-Robot Interface Power Assistive Robot |
| Content Type | Text |
| Resource Type | Article |
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