Design of an exoskeletal robot for human shoulder motion support considering a center of rotation of the shoulder joint

Kazuo Kiguchi, Makoto Yasuda, Koya Iwami, Keigo Watanabe, Toshio Fukuda

Research output: Contribution to conferencePaper

3 Citations (Scopus)

Abstract

The exoskeletal robots are expected to support the daily activities of physically weak persons such as elderly persons or handicapped persons in these days. In our previous research, the exoskeletal robots for elbow or shoulder motion support have been developed since the elbow and shoulder motion is especially important for people to perform tasks in everyday life. In this paper, we present a mechanism of the moving center of rotation of the shoulder joint of the exoskeletal robot for human shoulder motion support in order to fit the center of rotation of the robot shoulder joint to that of the physiological human shoulder joint during the shoulder motion. The effectiveness of the proposed mechanism of the robot has been evaluated by experiment.

Original languageEnglish
Pages1493-1498
Number of pages6
Publication statusPublished - Jan 1 2002
Externally publishedYes
Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
Duration: Sep 30 2002Oct 4 2002

Other

Other2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountrySwitzerland
CityLausanne
Period9/30/0210/4/02

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Kiguchi, K., Yasuda, M., Iwami, K., Watanabe, K., & Fukuda, T. (2002). Design of an exoskeletal robot for human shoulder motion support considering a center of rotation of the shoulder joint. 1493-1498. Paper presented at 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland.