NDLI: Analysis, evaluation and development of wheelchair-mounted robotic arms

Content Provider	IEEE Xplore Digital Library
Author	Alqasemi, R.M. McCaffrey, E.J. Edwards, K.D. Dubey, R.V.
Copyright Year	2005
Description	Author affiliation: Dept. of Mech. Eng., South Florida Univ., Tampa, FL, USA (Alqasemi, R.M.; McCaffrey, E.J.; Edwards, K.D.; Dubey, R.V.)
Abstract	This paper focuses on kinematic analysis and evaluation of wheelchair mounted robotic arms (WMRA). It addresses the kinematics of the WMRA with respect to its ability to reach common positions while performing activities of daily living (ADL). A procedure is developed for the kinematic analysis and evaluation of a WMRA. In an effort to evaluate two commercial WMRAs, the procedure for kinematic analysis is applied to each manipulator. Design recommendations and insights with regard to each device are obtained and used to design a new WMRA to overcome the limitations of these devices. This method benefits the researchers by providing a standardized procedure for kinematic analysis of WMRAs that is capable of evaluating independent designs.
Starting Page	469
Ending Page	472
File Size	276557
Page Count	4
File Format	PDF
ISBN	0780390032
DOI	10.1109/ICORR.2005.1501144
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-06-28
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wheelchairs Robot kinematics Spine Open loop systems Rehabilitation robotics Manipulators Cost function Mobile robots Arm Mechanical engineering
Content Type	Text
Resource Type	Article

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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
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