Archivio Istituzionale della RicercaA novel wearable end-effector type upper limb assistive robot for stroke hemiplegic patients is proposed, and a 3 DOF 4R-5R parallel mechanism for this type of robots is presented. Assistive functions of the robot are finalized to motion and force assistance to allow patients to have their paralyzed limb perform auxiliary roles in ADL. Kinematics of this mechanism, including joint configuration and placement of three active joints, is presented, followed by displacement analysis and workspace analysis. Motion of the proposed mechanism is confirmed by an experimental prototype.
Kinematic Design and Analysis of a Wearable End-Effector Type Upper Limb Assistive Robot / Morita, Ryohei; Jiang, Ming; Botta, Andrea; Sugahara, Yusuke; Quaglia, Giuseppe; Ceccarelli, Marco; Takeda, Yukio. - STAMPA. - 148:(2023), pp. 702-712. (Intervento presentato al convegno 16th IFToMM World Congress 2023 tenutosi a Tokyo (JP) nel November 5-9 2023) [10.1007/978-3-031-45770-8_70].
Kinematic Design and Analysis of a Wearable End-Effector Type Upper Limb Assistive Robot
Botta, Andrea;Quaglia, Giuseppe;
2023
Abstract
A novel wearable end-effector type upper limb assistive robot for stroke hemiplegic patients is proposed, and a 3 DOF 4R-5R parallel mechanism for this type of robots is presented. Assistive functions of the robot are finalized to motion and force assistance to allow patients to have their paralyzed limb perform auxiliary roles in ADL. Kinematics of this mechanism, including joint configuration and placement of three active joints, is presented, followed by displacement analysis and workspace analysis. Motion of the proposed mechanism is confirmed by an experimental prototype.
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https://hdl.handle.net/11583/2983797