{"title":"辅助机械臂处理物体时肩关节和肘关节的扭矩特性","authors":"Byoung-Ho Kim","doi":"10.1109/BIOROB.2016.7523819","DOIUrl":null,"url":null,"abstract":"This paper analyses the torque characteristics of the shoulder and elbow joints of an assistive robotic arm for handling an object. In order to investigate those torque characteristics, we consider a model of a humanoid robot arm and simulate typical object lifting and transferring tasks by using the robot arm. Several simulations will show that the available torque patterns and ranges of the shoulder and elbow joints required for the load effect of an object can be identified earlier in the design process of a robotic arm. As a result, this study is helpful for us to determine effectively the specifications of any actuators employed in the shoulder and elbow joints of various humanoid and robotic arms. It is also valuable for a rehabilitation doctor to determine an adequate exercise prescription for an arm rehabilitation using a load.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Torque characteristics of shoulder and elbow joints of assistive robotic arms handling an object\",\"authors\":\"Byoung-Ho Kim\",\"doi\":\"10.1109/BIOROB.2016.7523819\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper analyses the torque characteristics of the shoulder and elbow joints of an assistive robotic arm for handling an object. In order to investigate those torque characteristics, we consider a model of a humanoid robot arm and simulate typical object lifting and transferring tasks by using the robot arm. Several simulations will show that the available torque patterns and ranges of the shoulder and elbow joints required for the load effect of an object can be identified earlier in the design process of a robotic arm. As a result, this study is helpful for us to determine effectively the specifications of any actuators employed in the shoulder and elbow joints of various humanoid and robotic arms. It is also valuable for a rehabilitation doctor to determine an adequate exercise prescription for an arm rehabilitation using a load.\",\"PeriodicalId\":235222,\"journal\":{\"name\":\"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2016-06-26\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/BIOROB.2016.7523819\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/BIOROB.2016.7523819","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Torque characteristics of shoulder and elbow joints of assistive robotic arms handling an object
This paper analyses the torque characteristics of the shoulder and elbow joints of an assistive robotic arm for handling an object. In order to investigate those torque characteristics, we consider a model of a humanoid robot arm and simulate typical object lifting and transferring tasks by using the robot arm. Several simulations will show that the available torque patterns and ranges of the shoulder and elbow joints required for the load effect of an object can be identified earlier in the design process of a robotic arm. As a result, this study is helpful for us to determine effectively the specifications of any actuators employed in the shoulder and elbow joints of various humanoid and robotic arms. It is also valuable for a rehabilitation doctor to determine an adequate exercise prescription for an arm rehabilitation using a load.