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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Ikegami, Y. Nagai, K. Loureiro, R.C.V. Harwin, W.S. |
| Copyright Year | 2009 |
| Description | Author affiliation: Cybernetics, School of Systems Engineering, University of Reading, RG6 6AY, United Kingdom (Loureiro, R.C.V.; Harwin, W.S.) || Mechanical Engineering and Robotics Course, Graduate School of Science and Engineering, Ritsumeikan University, Kusatsu, Shiga 525-8577, Japan (Ikegami, Y.) || Department of Robotics, College of Science and Engineering, Ritsumeikan University, Kusatsu, Shiga 525-8577, Japan (Nagai, K.) |
| Abstract | Improving admittance of robotic joints is the key issue for making rehabilitation robots safe. This paper describes a design of Redundant Drive Joint (RD-Joint) which allows greater flexibility in the design of robotic mechanisms. The design strategy of the RD-Joint employs a systematic approach which consists of 1) adopting a redundant joint mechanism with internal kinematical redundancy to reduce effective joint inertia, and 2) adopting an adjustable admittance mechanism with a novel Crosslink Reduction Mechanism and mechanical springs and dampers as a passive second actuator. First, the basic concepts used to construct the redundant drive joint mechanism are explained, in particular the method that allows a reduction in effective inertia at the output joint. The basic structure of the RD-Joint is introduced based on the idea of reduced inertia along with a method to include effective stiffness and damping. Then, the basic design of the adjustable admittance mechanism is described. Finally, a prototype of RD-joint is described and its expected characteristics are discussed. |
| Starting Page | 202 |
| Ending Page | 210 |
| File Size | 664483 |
| Page Count | 9 |
| File Format | |
| ISBN | 9781424437887 |
| ISSN | 19457898 |
| DOI | 10.1109/ICORR.2009.5209474 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-06-23 |
| Publisher Place | Japan |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Damping Actuators Friction Prototypes Rehabilitation robotics Shock absorbers Admittance Impedance Springs Robots |
| Content Type | Text |
| Resource Type | Article |
| Subject | Rehabilitation Control and Systems Engineering Electrical and Electronic Engineering |
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