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Kinematic design consideration based on actuator placement of five-bar planar robot for arm rehabilitation

Title
Kinematic design consideration based on actuator placement of five-bar planar robot for arm rehabilitation
Authors
Choi, Jung HyunShin, Dong HwanPark, Tae SangJeong, Choong PyoMoon, Jeon IlAn, Jin Ung
DGIST Authors
Choi, Jung Hyun; Shin, Dong Hwan; Park, Tae Sang; Jeong, Choong Pyo; Moon, Jeon IlAn, Jin Ung
Issue Date
2015
Citation
5th International Conference on Asian Society for Precision Engineering and Nanotechnology, ASPEN 2013, 625, 638-643
Type
Conference
Article Type
Conference Paper
ISBN
9780000000000
ISSN
1013-9826
Abstract
In the design of upper limb rehabilitation robots, critical issues to be considered are large workspace with minimum singularities to cover enough patients' upper limb range of motion and higher manipulability for the patients to easily and freely move their arm with applying almost the same force to every direction in a given posture. This paper presents an analysis of the suggested kinematic design considerations of five-bar planar mechanism according to the actuator locations. A comparison between two different five-bar linkage types is given. Finally, several open challenges for the applicability of five-bar planar mechanisms are discussed from the kinematic point of view to upper limb rehabilitation robots. © (2015) Trans Tech Publications.
URI
http://hdl.handle.net/20.500.11750/1762
DOI
10.4028/www.scientific.net/KEM.625.638
Publisher
Trans Tech Publications Ltd
Related Researcher
Files:
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Collection:
ETC2. Conference Papers
Division of IoT∙Robotics Convergence Research2. Conference Papers
Convergence Research Center for Collaborative Robots2. Conference Papers


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