Document Detail

Redundancy and joint limits of a seven degree of freedom upper limb exoskeleton.
MedLine Citation:
PMID:  22256234     Owner:  NLM     Status:  MEDLINE    
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.
Levi Makaio Miller; Hyunchul Kim; Jacob Rosen
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Publication Detail:
Type:  Journal Article    
Journal Detail:
Title:  Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference     Volume:  2011     ISSN:  1557-170X     ISO Abbreviation:  Conf Proc IEEE Eng Med Biol Soc     Publication Date:  2011  
Date Detail:
Created Date:  2012-01-18     Completed Date:  2012-05-31     Revised Date:  2014-08-21    
Medline Journal Info:
Nlm Unique ID:  101243413     Medline TA:  Conf Proc IEEE Eng Med Biol Soc     Country:  United States    
Other Details:
Languages:  eng     Pagination:  8154-7     Citation Subset:  IM    
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MeSH Terms
Biomechanical Phenomena / physiology
Bone and Bones / physiology*
Joints / physiology*
Models, Biological
Range of Motion, Articular / physiology*
Upper Extremity / physiology*

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