Upper Limb Motion Assist Robot
نویسندگان
چکیده
Abstract An upper limb motion assist robot to elderly and disabled people is proposed in this paper. The robot can be mounted on a wheelchair to actuate an elderly person’s upper limb three dimensionally by his will. A wrist of an arm is suspended, and actuated by a wire driven control system. A vibration reduction system is also developed to decrease the vibration occurred in the wire driven system. The wire driven control system is advantageous to design a compact, light weight, and low cost mechanism. In this paper, the concept of the robot, the mechanical structure of an experimental setup, mechanical characteristics, control system, experimental results are described.
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تاریخ انتشار 1999