| Redundancy and joint limits of a seven degree of freedom upper limb exoskeleton. | |
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MedLine Citation:
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PMID: 22256234 Owner: NLM Status: In-Data-Review |
Abstract/OtherAbstract:
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The seven degree of freedom arm model is widely used in robotics, computer graphics, and much more. For wearable robotic systems, which are subject to joint limits, it is desirable to relate the joint limits to the redundantly of the system. A brief review of the arm model, redundant space and kinematics is presented. Following this review a closed form method is developed calculate the interval of the swivel angle (which characterizes the redundancy) that produces arm configurations that stay within joint limits. |
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Authors:
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Levi Makaio Miller; Hyunchul Kim; Jacob Rosen |
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Publication Detail:
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Type: Journal Article |
Journal Detail:
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Title: Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference Volume: 2011 ISSN: 1557-170X ISO Abbreviation: Conf Proc IEEE Eng Med Biol Soc Publication Date: 2011 Aug |
Date Detail:
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Created Date: 2012-01-18 Completed Date: - Revised Date: - |
Medline Journal Info:
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Nlm Unique ID: 101243413 Medline TA: Conf Proc IEEE Eng Med Biol Soc Country: United States |
Other Details:
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Languages: eng Pagination: 8154-7 Citation Subset: IM |
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From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine
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