학술대회논문

실감교류인체감응솔루션연구단의 주요 학술대회 성과를 소개합니다.

Kinematic Analysis of a 5 DOF Upper-limb Exoskeleton with a Tilted and Vertically Translating Shoulder Joint

Kinematic Analysis of a 5 DOF Upper-limb Exoskeleton with a Tilted and Vertically Translating Shoulder Joint
국내/국제 국제 국가명 호주
학술대회명 International Conference on Advanced Intelligent Mechatronics(AIM) 2013 개최연월 2013-07

저자 Yeongtae Jung, Joonbum Bae
초록
In this paper, an upper-limb exoskeleton with a tilted and vertically movable shoulder joint is proposed. By analyzing the biomechanics of the shoulder, the motion of the upper limb is approximated by including one degree of freedom (DOF), namely vertical translation of the glenohumeral joint, in addition to the three DOFs that are conventionally employed to analyze the motion of the shoulder. Also, the shoulder joint is tilted to avoid singularity problems in the workspace; by tilting the shoulder joint, the singularity position was placed outside of the normal range of motion.
This configuration was analyzed using forward and inverse kinematics methods. Because the shoulder elevation affects all the joint angles, the angles were calculated by applying an inverse kinematics method in an iterative manner. The performance of the proposed upperlimb exoskeleton and analysis methods have been verified by simulations.
키워드 Upper-limb Exoskeleton, Translating Shoulder Joint

과제명 손가락 및 손바닥의 파지 역감 생성 기술 개발
연구기관 울산과학기술대학교 연구책임자 배준범