Kinematic Analysis, Evaluation and Development of a New Wheelchair-Mounted Robotic Arm

• 영문명: Kinematic Analysis, Evaluation and Development of a New Wheelchair-Mounted Robotic Arm
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: Redwan M. Alqasemi Edward J. McCaffrey Kevin D. Edwards Rajiv V. Dubey
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Assistive Robotics and Mechatronics Vol.7 No.2, 31~38쪽, 전체 8쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2006.06.01

영문 초록

  This paper addresses kinematic analysis, evaluation and development of a wheelchair mounted robotic arm (WMRA). It addresses the kinematics of the WMRA with respect to its ability to perform activities of daily living (ADL). The procedure for kinematic analysis is applied to two commercial WMRAs. Design recommendations and insights with regard to each device are obtained and used to design a new WMRA to overcome the limitations of these devices. The new modular WMRA design is discussed and it is built to be a platform to further the evaluation of WMRA’s based on different link lengths. This method will benefit the researchers by providing a standardized procedure for kinematic analysis of WMRAs that is capable of evaluating independent designs and customizing the WMRA for specific users or tasks.

목차

Abstract
1. INTRODUCTION
2. KINEMATIC ANALYSIS
3. EVALUATION PROCEDURE
4. EVALUATION RESULTS
5. DEVELOPMENT OF A NEW WMRA
6. DESIGN AND CONSTRUCTION
7. CONCLUSIONS AND RECOMMENDATIONS
ACKNOWLEDGEMENTS
REFERENCES