Development of Upper-Limb Power Assist Machine Using Linkage Mechanism – Drive Mechanism and its Applications –

2018 ◽  
Vol 30 (2) ◽  
pp. 214-222 ◽  
Author(s):  
Hiroyuki Inoue ◽  
◽  
Toshiro Noritsugu
Keyword(s):  
Upper Limb ◽  
Input Device ◽  
Linkage Mechanism ◽  
Drive Mechanism ◽  
Feed Screw ◽  
Link Mechanism ◽  
Load Transport ◽  
Parallel Link ◽  
Human Upper Limb

This paper proposes an upper-limb power assist machine driven by a single actuator to reduce the weight and cost. This assist machine is used to support the shoulder and elbow movements for viticulture operations, and upper-limb holding for load transport tasks. This assist machine consists of an arm part and a mounting part. The arm part is composed of a parallel link mechanism, which is driven by an actuator and a trapezoidal feed screw. To realize a natural upper-limb motion, the length of the arm part was designed based on the human upper-limb motion. The assist machine is controlled based on the user’s intention by applying bend sensors attached to the input device. By measuring the electromyography signal of five muscles, the effectiveness of the proposed upper-limb power assist machine was verified experimentally.

Development of Upper-Limb Power-Assist Machine Using Linkage Mechanism – Mechanism and its Fundamental Motion –

2014 ◽  
Vol 8 (2) ◽  
pp. 193-200 ◽  
Author(s):  
Hiroyuki Inoue ◽  
◽  
Toshiro Noritsugu
Keyword(s):  
Upper Limb ◽  
Biceps Brachii ◽  
Worm Gear ◽  
Input Device ◽  
Linkage Mechanism ◽  
Triceps Brachii ◽  
User Intention ◽  
Link Mechanism ◽  
Parallel Link ◽  
Human Upper Limb

This paper proposes an upper-limb power-assist machine that is driven by a single actuator to reduce its weight and cost. The assist machine is intended for supporting shoulder and elbow movements during work in the field of viticulture. It consists of an arm part, a mounting part, and a drive part, the last of which contains an actuator and a worm gear. The arm part is equipped with a parallel link mechanism. In order to realize natural upper-limb motion, the length of the arm part is designed on the basis of human upper-limb motion. The assist machine is controlled by user intention through the use of bending sensors attached to the input device. The assistance effectiveness of the proposed assist machine is verified experimentally by measuring the EMG signals of the deltoid, biceps brachii, and triceps brachii muscles.

Three DOF parallel link mechanism utilizing smooth impact drive mechanism

2002 ◽  
Vol 26 (3) ◽  
pp. 289-295 ◽  
Author(s):  
Takeshi Morita ◽  
Ryuichi Yoshida ◽  
Yasuhiro Okamoto ◽  
Toshiro Higuchi
Keyword(s):  
Drive Mechanism ◽  
Link Mechanism ◽  
Parallel Link

scholarly journals A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation

2021 ◽  
Vol 11 (13) ◽  
pp. 5865
Author(s):  
Muhammad Ahsan Gull ◽  
Mikkel Thoegersen ◽  
Stefan Hein Bengtson ◽  
Mostafa Mohammadi ◽  
Lotte N. S. Andreasen Struijk ◽  
...  
Keyword(s):  
Upper Limb ◽  
Tracking Control ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Mechanical Design ◽  
Trajectory Tracking Control ◽  
Upper Limb Exoskeleton ◽  
And Performance ◽  
Physically Disabled People ◽  
Human Upper Limb

Wheelchair mounted upper limb exoskeletons offer an alternative way to support disabled individuals in their activities of daily living (ADL). Key challenges in exoskeleton technology include innovative mechanical design and implementation of a control method that can assure a safe and comfortable interaction between the human upper limb and exoskeleton. In this article, we present a mechanical design of a four degrees of freedom (DOF) wheelchair mounted upper limb exoskeleton. The design takes advantage of non-backdrivable mechanism that can hold the output position without energy consumption and provide assistance to the completely paralyzed users. Moreover, a PD-based trajectory tracking control is implemented to enhance the performance of human exoskeleton system for two different tasks. Preliminary results are provided to show the effectiveness and reliability of using the proposed design for physically disabled people.

Adaptive Information Fusion for Human Upper Limb Movement Estimation

2012 ◽  
Vol 42 (5) ◽  
pp. 1100-1108 ◽  
Author(s):  
Zhi-Qiang Zhang ◽  
Lian-Ying Ji ◽  
Zhi-Pei Huang ◽  
Jian-Kang Wu
Keyword(s):  
Information Fusion ◽  
Upper Limb ◽  
Limb Movement ◽  
Human Upper Limb

scholarly journals Unvealing the Principal Modes of Human Upper Limb Movements through Functional Analysis

2017 ◽  
Vol 4 ◽  
Author(s):  
Giuseppe Averta ◽  
Cosimo Della Santina ◽  
Edoardo Battaglia ◽  
Federica Felici ◽  
Matteo Bianchi ◽  
...  
Keyword(s):  
Functional Analysis ◽  
Upper Limb ◽  
Limb Movements ◽  
Upper Limb Movements ◽  
Human Upper Limb

scholarly journals Development of a Four-legged Underwater Robot with Parallel-link Mechanism

2010 ◽  
Vol 45 (5) ◽  
pp. 731-736
Author(s):  
Takumi Yaginuma ◽  
Takasi Takesima ◽  
Etsurou Shimizu ◽  
Masanori Ito ◽  
Junnichiro Tahara
Keyword(s):  
Underwater Robot ◽  
Link Mechanism ◽  
Parallel Link

Human Upper Limb Experimental Analysis for Assistive Devices in Feeding Process

2021 ◽  
Vol 42 ◽  
pp. 122-127
Author(s):  
Cristian Copilusi ◽  
Ionut Geonea ◽  
Alexandru Margine ◽  
Adrian Rosca
Keyword(s):  
Upper Limb ◽  
Experimental Analysis ◽  
Command And Control ◽  
Disabled Persons ◽  
Assistive Devices ◽  
Upper Arm ◽  
Experimental Process ◽  
Feeding Process ◽  
And Control ◽  
Human Upper Limb

This research addresses attention to human upper limb experimental analysis during feeding process aiding disabled persons. The research core is focused on the experimental process of obtaining the angular amplitudes and trajectories developed by the human upper arm during feeding process. The research originality consists on the obtained results which can be used in further researches for command and control of robotic assisting devices.

A Real-Time Method for Manipulating a Realistic Human Upper Limb

2010 ◽  
Author(s):  
D. Ascione ◽  
G. Laccetti ◽  
M. Lapegna ◽  
D. Romano
Keyword(s):  
Real Time ◽  
Upper Limb ◽  
Human Upper Limb
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