The Design of Robot Arm based on the Morphological.Neurological Model of Human

Bae, Young-Chul; Choi, Hyeong-Yoon; Moon, Yong-Seon

doi:10.5391/jkiis.2007.17.4.500

Cited by 4 publications

(2 citation statements)

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“…It is also remarkable that many dangerous field works can be performed based on a coordination of human-like robotic arms and mobility [7,8]. On the other hand, some researchers have a concern to develop an effective exoskeleton arm mechanism for the purpose of rehabilitation or replacement of human arms [9,10]. Some researches on an artificial prosthetic arm are also being conducted actively for disabled persons who have arm motions limited by accidents [11].…”

Section: Introductionmentioning

confidence: 99%

Analysis on Load Torque Effect for Assistive Robotic Arms

Kim¹

2018

IJFIS

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This paper analyses the load torque effect for assistive robotic arms. For the purpose, we consider a typical assistive robotic arm delivering some loads and derive the torque effect at the joint space of the robot arm. We also try to find the reliable torque range of each joint for exemplary load manipulation tasks. Thus the available torque patterns and ranges of the shoulder and elbow joints have been identified by various simulations and discussed the load effects for the delivering tasks by assistive robotic arms. As a result, this analysis is practically helpful for us to determine the specifications of actuators to be employed at the joint space of humanoid, prosthetic and industrial robotic arms. It is also applicable for the purpose of effective rehabilitation of human arms using some loads.

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Section: Introductionmentioning

confidence: 99%

Analysis on Load Torque Effect for Assistive Robotic Arms

Kim¹

2018

IJFIS

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“…All these efforts suggested the possibility of applying human motion patterns to robots. Moreover, Bae et al (2007) designed a robot arm with mechanical principles by focusing on the human nervous system and morphology, and demonstrated its feasibility.…”

Section: Introductionmentioning

confidence: 99%

Kinematic and Dynamic Analyses of Human Arm Motion

Kim

Cho

Lee³

et al. 2013

Journal of Biosystems Engineering

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Determining an appropriate path is a top priority in order for a robot to maneuver in a dynamically efficient way especially in a pick-and-place task. In a non-standardized work environment, current robot arm executes its motion based on the kinematic displacements of joint variables, though resulting motion is not dynamically optimal. In this research we suggest analyzing and applying motion patterns of the human arm as an alternative to perform near optimum motion trajectory for arbitrary pick-and-place tasks. Methods: Since the motion of a human arm is very complicated and diverse, it was simplified into two links: one from the shoulder to the elbow, and the other from the elbow to the hand. Motion patterns were then divided into horizontal and vertical components and further analyzed using kinematic and dynamic methods. The kinematic analysis was performed based on the D-H parameters and the dynamic analysis was carried out to calculate various parameters such as velocity, acceleration, torque, and energy using the Newton-Euler equation of motion and Lagrange's equation. In an attempt to assess the efficacy of the analyzed human motion pattern it was compared to the virtual motion pattern created by the joint interpolation method. Results: To demonstrate the efficacy of the human arm motion mechanical and dynamical analyses were performed, followed by the comparison with the virtual robot motion path that was created by the joint interpolation method. Consequently, the human arm was observed to be in motion while the elbow was bent. In return this contributed to the increase of the manipulability and decrease of gravity and torque being exerted on the elbow. In addition, the energy required for the motion decreased. Such phenomenon was more apparent under vertical motion than horizontal motion patterns, and in shorter paths than in longer ones. Thus, one can minimize the abrasion of joints by lowering the stress applied to the bones, muscles, and joints. From the perspectives of energy and durability, the robot arm will be able to utilize its motor most effectively by adopting the motion pattern of human arm. Conclusions: By applying the motion pattern of human arm to the robot arm motion, increase in efficiency and durability is expected, which will eventually produce robots capable of moving in an energy-efficient manner.

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Torque characteristics of shoulder and elbow joints of assistive robotic arms handling an object

Kim

2016

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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The Design of Robot Arm based on the Morphological.Neurological Model of Human

Cited by 4 publications

References 0 publications

Analysis on Load Torque Effect for Assistive Robotic Arms

Analysis on Load Torque Effect for Assistive Robotic Arms

Kinematic and Dynamic Analyses of Human Arm Motion

Torque characteristics of shoulder and elbow joints of assistive robotic arms handling an object

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