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Torque optimization for a 7DOF upper-limb power-assist exoskeleton robot

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3 Author(s)
Hayashi, Yoshiaki ; Dept. Adv. Technol. Fusion, Saga Univ., Saga, Japan ; Dubey, R. ; Kiguchi, Kazuo

Many kinds of power-assist robots have been developed in order to assist daily life motions of the elderly or physically weak persons. A human upper-limb has 7 degrees of freedom to achieve various tasks dexterously. Therefore, to assist all upper-limb joint motions of a human, the upper-limb power-assist robot is required to have 7DOF. On the other hand, to achieve a desired task, a person moves own hand to the desired position and orientation. For this reason, the hand position or hand force must be focused to be controlled by the upper-limb power-assist robots. However, the hand position or hand force is 6-dimensional vector, so the 7DOF upper-limb power-assist robot has a redundancy and in general, a pseudo-inverse matrix is used in the control. In this paper, the torque optimization for an upper-limb power-assist exoskeleton robot using the pseudo-inverse matrix is discussed. The effectiveness of the proposed method was evaluated by the experiments.

Published in:

Robotic Intelligence In Informationally Structured Space (RiiSS), 2011 IEEE Workshop on

Date of Conference:

11-15 April 2011