Goto, T;
Dobashi, H;
Yoshikawa, T;
Loureiro, RCV;
Harwin, WS;
Miyamura, Y;
Nagai, K;
(2017)
Utilization of Kinematical Redundancy of a Rehabilitation Robot to Produce Compliant Motions under Limitation on Actuator Performance.
In: Amirabdollahian, F and Burdet, E and Masia, L, (eds.)
Proceedings of the 2017 International Conference on Rehabilitation Robotics (ICORR).
(pp. pp. 646-651).
IEEE: London, UK.
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Abstract
This paper addresses the mechanical structure and control method of a redundant drive robot (RDR) to produce compliant motions, and show how the design parameters of the RDR can effect the produced motions and the mechanical and performance limitations of the actuators of the RDR. The structure and control method of the RDR can have been proper to produce compliant motions, but the effect of the design parameters of the RDR to the mechanical and performance limitations have not been clear. Therefore, the feasibility of producing compliant motions in the case of the prototype of the RDR is confirmed by conducting simulations and experiments, and then the design parameters of the RDR to the mechanical and performance limitations are verified by conducting simulations.
| Type: | Proceedings paper |
|---|---|
| Title: | Utilization of Kinematical Redundancy of a Rehabilitation Robot to Produce Compliant Motions under Limitation on Actuator Performance |
| Event: | International Conference on Rehabilitation Robotics (ICORR) |
| Location: | London, ENGLAND |
| Dates: | 17 July 2017 - 20 July 2017 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/ICORR.2017.8009321 |
| Publisher version: | http://dx.doi.org/10.1109/ICORR.2017.8009321 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Actuators, Prototypes, Manipulators, Impedance, Torque, Angular velocity |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci > Department of Ortho and MSK Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10105619 |
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