Publication

Hanyang University HumanRobotics Lab

International Conference
Human-Robot Integrated Model of Upper-Extremity
Conference
International Conference on Ubiquitous Robots and Ambient Intelligence
Author
H. T. Ryu, J. Y. Choi, B.-J. Yi, J. Lee, D. J. Kim, J. Ko
Year
2012
Date
2012.11.26
File
Human-Robot Integrated Model of Upper-Extremity.pdf (361.3K) 0회 다운로드 DATE : 2020-10-19 23:12:47
Abstract: 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.