Upper Limb Motion Assist Robot
Yoshihiko Takahashi, and Takeshi Kobayashi
Dept. of Mechanical Systems Eng. Kanagawa Institute of Technology
1030, Shimo-Ogino, Atsugi, Kanagawa, 243-0292, JAPAN
Phone/Facsimile : +81-462-91-3195 E-mail: ytaka@mse.kanagawa-it.ac.jp
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.
Full Paper
Last modified: Thu Jan 21 10:38:39 PST 1999