Estimation and Kinetic Modeling of Human Arm using Wearable Robot Arm
作者: TAKAHIRO YAMAZAKISHO SAKAINOTOSHIAKI TSUJI
作者单位: 1Saitama University Japan
刊名: Electrical Engineering in Japan, 2017, Vol.199 (3), pp.57-67
来源数据库: Wiley Journal
DOI: 10.1002/eej.22956
关键词: human armsestimation of multijoint armwearable robotkinetics modeling
原始语种摘要: SUMMARY(#br)This paper describes an estimation method for the physical parameters of human arms. The parameters are used in the medical and kinematic analysis fields. Personal differences are important, but some of the conventional methods do not consider personal differences pertaining to inertia in viscoelasticity muscular strength measurements. The remaining conventional methods that consider personal differences require precise measurement devices. The proposed method realizes kinetics modeling and identification of the friction and inertia including the off‐diagonal parameters of human arms by using wearable robots. First, wearable robots are multi‐input devices. In addition, the actuators of wearable robots can be located near human joints and can input M‐sequence torque. Therefore,...
全文获取路径: Wiley  (合作)
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关键词翻译
关键词翻译
  • wearable 耐磨的
  • human 人的
  • modeling 制祝型
  • parameters 参数
  • estimation 估计
  • personal 个人
  • Robot 罗伯特牌照相机
  • machine 机器
  • consider 仔细考虑
  • diagonal 对角线