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논문 기본 정보

자료유형
학술저널
저자정보
김현철 (Univ. of California) 이춘영 (경북대학교)
저널정보
제어로봇시스템학회 제어로봇시스템학회 논문지 제어로봇시스템학회 논문지 제20권 제8호
발행연도
2014.8
수록면
875 - 881 (7page)

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초록· 키워드

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The redundancy resolution of the seven DOF (Degree of Freedom) upper limb exoskeleton is key to the synchronous motion between a robot and a human user. According to the seven DOF human arm model, positioning and orientating the wrist can be completed by multiple arm configurations that results in the non-unique solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and its effect on the redundancy resolution of the seven DOF human arm model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing two cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid of the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each of two consecutive points along the task space trajectory. The contribution of each criterion on the redundancy was verified by the post processing of experimental data collected with a motion capture system. Results indicate that the bimodal redundancy resolution approach improved the accuracy of the predicted swivel angle. Statistical testing of the dynamic constraint contribution shows that under moderate speeds and no load, the dynamic component of the human arm is not dominant, and it is enough to resolve the redundancy without dynamic constraint for the realtime application.

목차

Abstract
I. 서론
II. 시스템 모델 및 방법
III. 선형 결합에 의한 Swivel Angle 추정
IV. 실험 프로토콜 및 결과
V. 논의
VI. 결론
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UCI(KEPA) : I410-ECN-0101-2015-560-002491441