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Modular joint unit design for arm exoskeleton robot

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6 Author(s)
Dong Hoon Cha ; Intelligent Robotics Research Center, Korea Electronics Technology Institute, Korea ; Dong Yeop Kim ; Tae-Keun Kim ; Seung Hwan Lim
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Exoskeleton robots have been used for rehabilitation in many areas. In order to comprise arm exoskeleton robot, a modular joint unit is proposed. As a module, this unit contains everything for joint actuating. Motor, encoder, harmonic drive, brake, cross roller bearing, and joint torque sensor are included in this unit. Because this unit is applied to exoskeleton robot, the joint torque sensor is important for human machine interface (HMI). Joint torque sensor performance is verified with FEM analysis.

Published in:

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

Date of Conference:

26-28 Nov. 2012