NDLI: Development of upper-limb type HAL and reaching movement for meal-assistance

Content Provider	IEEE Xplore Digital Library
Author	Otsuka, T. Kawaguchi, K. Kawamoto, H. Sankai, Y.
Copyright Year	2011
Description	Author affiliation: Graduate School of Systems and Information Engineering (Kawaguchi, K.) \|\| Faculty of Graduate School of Systems and Information Engineering, University of Tsukuba (Kawamoto, H.; Sankai, Y.) \|\| Graduate School of Systems and Information Engineering, University of Tsukuba, 1-1-1, Tennodai, Tsukuba, Ibaraki, 305-8573, Japan (Otsuka, T.)
Abstract	Having a meal is one of the most basic human activities. There are several hundred thousand patients with upper limb disorders in Japan, who need to be nursed when eating. By letting the patients to perform meals with their own arms, it is expected to promote a more independent life and improvement in their quality of life. In our group we have researched and developed Robot Suit HAL, which is an assistive system to expand, intensify and support human physical function by wearing it. The purpose of this research is developing the upper-limb type HAL(HAL-UL) for meal-assistance. In this paper, we develop a hardware which is able to perform reaching movements of an end-point position and a control method for it. The structure of the HAL-UL has a shoulder joint (three-degree-of-freedom) and an elbow joint (one-degree-of-freedom). The shoulder joint encompasses a ring-shaped rotation mechanism with gears for rotation. Furthermore, a grasp-assistance system is built in the forearm of HAL-UL and performs grasp-assistance. The whole system is fixed to a chair so that weight applied on the user. The control method used for reaching operation is the trajectory tracking control method. In order to calculate a smooth trajectory and the target angles considering the human range of motion, we propose a trajectory calculation method using weighted-pseudo-inverse-matrix and minimum jerk model. The effectiveness of it is investigated through experiments with a healthy person and the HAL-UL actualized reaching movements for meal-assistance.
Starting Page	883
Ending Page	888
File Size	2034126
Page Count	6
File Format	PDF
ISBN	9781457721366
e-ISBN	9781457721380
DOI	10.1109/ROBIO.2011.6181399
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-07
Publisher Place	Thailand
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Trajectory Grasping Humans Robots Shoulder Containers
Content Type	Text
Resource Type	Article

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
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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