Connecting a Human Limb to an Exoskeleton
نویسندگان
چکیده
منابع مشابه
A formal methodology for avoiding hyperstaticity when connecting an exoskeleton to a human member
The design of a robotic exoskeleton often focuses on replicating the kinematics of the human limb that it is connected to. However, human joint kinematics is so complex that in practice, the kinematics of artificial exoskeletons fails to reproduce it exactly. This discrepancy results in hyperstaticity. Namely, uncontrolled interaction forces appear. In this paper, we investigate the problem of ...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2012
ISSN: 1552-3098,1941-0468
DOI: 10.1109/tro.2011.2178151