Analysis, Evaluation and Development of Wheelchair-Mounted Robotic Arms

Alqasemi, Redwan; McCaffrey, E.J.; Edwards, K.; Dubey, Rajiv

doi:10.1109/icorr.2005.1501144

Cited by 40 publications

(34 citation statements)

References 7 publications

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“…Raptor is a manipulator arm for wheelchair applications traded by Phybotics since 2008 [6]. It has 4 Degrees of Freedom (DoF) which is equipped with two fingers for grasping applications, being built with polymeric material with a weight of 8 kg.…”

Section: A Commercially Available Manipulatorsmentioning

confidence: 99%

“…Adding a side mounted linear drive would not affect wheelchair's agility, which is an advantage of the system. [6]. In this study, , and have been defined as revolute joints angles around , and axes.…”

Section: Kinematics Analysis Of the Manipulatormentioning

confidence: 99%

“…In order to achieve a better visualization for the normalized manipulability index of the point's grids, the following expressions have been used in [6] and are shown in Figure II: 81 -100% Excellent 61 -80% Very Good 41 -60% Good 21 -40% Limited 01 -20% Very Limited > 1% Undetermined FIGURE II. REPRESENTATION OF THE MANIPULABILITY MEASURE [6] …”

Section: Manupulability Analysismentioning

confidence: 99%

“…Two different manipulators were added to a wheelchair and the kinematic performance of both manipulators was compared in some application-oriented situations, defined as Activities of Daily Living (ADL). In this paper, Raptor manipulator [6] has been chosen among the existing robots and its kinematics are analyzed in section III. Furthermore, a proposed configuration enhancement is addressed.…”

Section: Introductionmentioning

confidence: 99%

“…The aim of this paper is to increase the workspace of a robot by adding a linear actuator along wheelchair side of a pre-existing configuration, presented in [6]. Two different manipulators were added to a wheelchair and the kinematic performance of both manipulators was compared in some application-oriented situations, defined as Activities of Daily Living (ADL).…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Kinematic performance enhancement of wheelchair-mounted robotic arm by adding a linear drive

Borboni

Maddalena

Rastegarpanah

et al. 2016

2016 IEEE International Symposium on Medical Measurements and Applications (MeMeA)

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-Wheelchair-Mounted Robotic Arms have been used to help impaired people to reach objects and perform essential activities in an autonomous way. Different available models are presented in this paper and a simple design is proposed to improve the kinematic performances of the integrated system in order to allow the user to increase its capability of interaction with home environment. To this end, a linear drive has been added to the Raptor model in order to move along the wheelchair. The benefit of the proposed development has been proved with a kinematic performance assessment procedure, which has analyzed critical points in the 3D space, providing 26% increase in performance with respect to the existing solution.

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Section: A Commercially Available Manipulatorsmentioning

confidence: 99%

Section: Kinematics Analysis Of the Manipulatormentioning

confidence: 99%

Section: Manupulability Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Kinematic performance enhancement of wheelchair-mounted robotic arm by adding a linear drive

Borboni

Maddalena

Rastegarpanah

et al. 2016

2016 IEEE International Symposium on Medical Measurements and Applications (MeMeA)

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Measurement of Suitability of a Haptic Device in a Virtual Reality System

Martín

Triviño

2007

Lecture Notes in Computer Science

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In the context of the optimization of the mechanical platform of a virtual reality system involving a haptic device, this paper introduces two tools in order to help the designer for obtaining the best positioning of the device respect to the application workspace. With this purpose we have defined a measure called Average Volumetric Manipulability, of how the application workspace fits in with the volume where haptic device provides its best performance. Also, we have defined other measure called Useful Manipulability which takes in account the frequency with which each zone of the application workspace is visited during the simulation process. The practical use of these measures is demonstrated using them during the design and development of a real application.

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Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm

Yang

Mustafa

Yeo

et al. 2010

Front. Mech. Eng. China

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In this paper, an anthropomimetic design of a 7-DOF dexterous robotic arm is proposed. Similar to the human arm, the arm consists of three sequentially connected modules, i.e., a 3-DOF shoulder module, a 1-DOF elbow module, and a 3-DOF wrist module. All three arm modules are also driven by cables in order to mimic the driving scheme and functionality of the human muscles. This paper addresses three critical design analysis issues, i.e., the displacement analysis, the tension-closure analysis, and the workspace analysis. A closed-form solution approach is presented for the forward displacement analysis, while the inverse displacement solution is obtained through an efficient optimization algorithm, in which both task-decomposition and dimension-reduction techniques are employed. An effective tension-closure analysis algorithm is also formulated based on the theory of convex analysis. The orientation workspace for the 3-DOF shoulder and wrist modules are then analyzed using a new equi-volumetric partition scheme based on the intuitive Tilt-and-Torsion angle parameterization. An optimization approach is then investigated for the kinematic design of the three joint modules, in which the design objective is to maximize the matched workspace of the robotic arm joints with that of the human arm joints. A research prototype of the 7-DOF cable-driven robotic arm has also been developed in order to demonstrate the anthropomimetic design concept. With a lightweight structure of 1 kg, the cable-driven robotic arm can carry a payload of 5 kg and has motion repeatability of AE2.5mm.

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Analysis, Evaluation and Development of Wheelchair-Mounted Robotic Arms

Cited by 40 publications

References 7 publications

Kinematic performance enhancement of wheelchair-mounted robotic arm by adding a linear drive

Kinematic performance enhancement of wheelchair-mounted robotic arm by adding a linear drive

Measurement of Suitability of a Haptic Device in a Virtual Reality System

Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm

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