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Human-robot integrated model of upper-extremity

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6 Author(s)
Hwan Taek Ryu ; Sch. of Electr. Eng. & Comput. Sci., Hanyang Univ., Ansan, South Korea ; Jae Yeon Choi ; Byung-Ju Yi ; Jiseok Lee
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A new wearable robot for upper-extremity was designed for handling heavy weights. The human-robot integrated structure constitutes a closed-chain mechanism which allows a proper load distribution between the robot and the human. The kinematic and dynamic models for this human-robot integrated exoskeleton system were presented. Through the load distribution algorithm between the human and the robot, it was shown that the robot could withstand majority of the payload.

Published in:

Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on

Date of Conference:

26-28 Nov. 2012

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