NDLI: Upper extremity assist exoskeleton robot

Content Provider	IEEE Xplore Digital Library
Author	Khan, A.M. Deok-won Yun Jung-Soo Han Kyoosik Shin Chang-Soo Han
Copyright Year	2014
Description	Author affiliation: Dept. of Mech. Eng., Hanyang Univ. (Seoul Campus), Seoul, South Korea (Khan, A.M.; Deok-won Yun) \|\| Fac. of Mech. Syst. Eng., Hansung Univ., Seoul, South Korea (Jung-Soo Han) \|\| Fac. of Robot Eng., Hanyang Univ. (ERICA Campus), Ansan, South Korea (Kyoosik Shin; Chang-Soo Han)
Abstract	Need to develop human body's posture supervised robots, gave the push to researchers to think over dexterous design of exoskeleton robots. It requires to develop quantitative techniques to assess motor function and generate the command for the robots to act accordingly with complex human structure. In this paper, we focus on developing new technique for the upper limb power exoskeleton in which load is handled by the human subject and not by the robot. Main challenge along with the design complexity is to find the desired human motion intention and to develop an algorithm to assist as needed accordingly. For this purpose, we used newly developed Muscle Circumference Sensor (MCS) instead of electromyogram (EMG) sensors. MCS together with the load cells is used to estimate the desired human intention by which desired trajectory is generated. The desired trajectory is then tracked by passivity based adaptive control technique. Developed Upper limb power exoskeleton has seven degrees of freedom (DOF) in which five are passive and two are active. Active joints include shoulder and elbow, powered by electric motors and move in Sagittal plane while abduction and adduction motion in shoulder joint is provided by the passive joint. Performance of the exoskeleton is evaluated experimentally by a neurologically intact subject. The results show that after adjusting the motion intention recognition algorithm for the subject, the robot assisted effectively and the subject only felt nominal load regardless of the weight in hand.
Starting Page	892
Ending Page	898
File Size	2018723
Page Count	7
File Format	PDF
ISBN	9781479967636
e-ISBN	9781479967650
DOI	10.1109/ROMAN.2014.6926366
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-25
Publisher Place	UK
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Muscles Joints Elbow Force Shoulder
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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