Reproducing Human Arm Motion Using a Kinematically Coupled Humanoid Shoulder–Elbow Complex

Stanišić, M. M.; Goehler, Craig M.

doi:10.1080/11762320802525128

Cited by 3 publications

(1 citation statement)

References 7 publications

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“…Parallel research is conducted in the field of motion capturing systems, sampling, task-based and kinematic matrices for kinematic analysis related to reaching the human upper limb performing daily living activities (ADLs) [7,40]. Because of the desire for coming with mechanisms imitating human motions, the researchers are working for continuous improvement in design and control modalities for upper limb extremities [41], accurate shoulder-elbow complex mechanism (tendon operated) [42], and upper limb (shoulder, elbow and wrist) rehabilitation mechanism [43]. Reliability challenges in computational and practical aspects posed during task-based applications can be solved by kinematic representation [44], functional principal component analysis (fPCA) [45] and optimised trajectory motion [45].…”

Section: Introductionmentioning

confidence: 99%

Development of a revolute-type kinematic model for human upper limb using a matrix approach

Gillawat¹

2021

Robotica

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A mathematical model is proposed for a revolute joint mechanism with an n-degree of freedom (DOF). The matrix approach is used for finding the relation between two consecutive links to determine desired link parameters such as position, velocity and acceleration using the forward kinematic approach. The matrix approach was confirmed for a proposed 10 DOF revolute type (R-type) human upper limb model with servo motors at each joint. Two DOFs are considered each at shoulder, elbow and wrist joint, followed by four DOF for the fingers. Two DOFs were considered for metacarpophalangeal (mcp) and one DOF each for proximal interphalangeal (pip) and distal interphalangeal (dip) joints. MATLAB script function was used to evaluate the mathematical model for determining kinematic parameters for all the proposed human upper limb model joints. The simplified method for kinematic analysis proposed in this paper will further simplify the dynamic modeling of any mechanism for determining joint torques and hence, easy to design control system for joint movements.

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Section: Introductionmentioning

confidence: 99%

Development of a revolute-type kinematic model for human upper limb using a matrix approach

Gillawat¹

2021

Robotica

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Humanoid robots to mechanically stress human cells grown in soft bioreactors

Mouthuy

Snelling

Hostettler³

et al. 2022

Commun Eng

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For more than 20 years, robotic bioreactor systems have facilitated the growth of tissue-engineered constructs using mechanical stimulation. However, we are still unable to produce functional grafts that can translate into clinical use. Humanoid robots offer the prospect of providing physiologically-relevant mechanical stimulation to grafts and implants which may expedite their clinical deployment. To investigate the feasibility of a humanoid bioreactor, we have designed a flexible bioreactor chamber that can be attached to a modified musculoskeletal (MSK) humanoid robot shoulder joint. We demonstrate that fibroblast cells can be grown in this chamber while undergoing physiological adduction-abduction on the robotic arm. A preliminary evaluation of the transcriptome of the cells after 14 days indicated a clear influence of the loading regime on the gene expression profile. These early results will facilitate the exploration of MSK humanoid robots as a biomechanically more realistic platform for tissue engineering and biomaterial testing applications.

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Eight-Bar Elbow Joint Exoskeleton Mechanism

Figliolini,

Lanni,

Tomassi

et al. 2024

Robotics

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This paper deals with the design and kinematic analysis of a novel mechanism for the elbow joint of an upper-limb exoskeleton, with the aim of helping operators, in terms of effort and physical resistance, in carrying out heavy operations. In particular, the proposed eight-bar elbow joint exoskeleton mechanism consists of a motorized Watt I six-bar linkage and a suitable RP dyad, which connects mechanically the external parts of the human arm with the corresponding forearm by hook and loop velcro, thus helping their closing relative motion for lifting objects during repetitive and heavy operations. This relative motion is not a pure rotation, and thus the upper part of the exoskeleton is fastened to the arm, while the lower part is not rigidly connected to the forearm but through a prismatic pair that allows both rotation and sliding along the forearm axis. Instead, the human arm is sketched by means of a crossed four-bar linkage, which coupler link is considered as attached to the glyph of the prismatic pair, which is fastened to the forearm. Therefore, the kinematic analysis of the whole ten-bar mechanism, which is obtained by joining the Watt I six-bar linkage and the RP dyad to the crossed four-bar linkage, is formulated to investigate the main kinematic performance and for design purposes. The proposed algorithm has given several numerical and graphical results. Finally, a double-parallelogram linkage, as in the particular case of the Watt I six-bar linkage, was considered in combination with the RP dyad and the crossed four-bar linkage by giving a first mechanical design and a 3D-printed prototype.

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Reproducing Human Arm Motion Using a Kinematically Coupled Humanoid Shoulder–Elbow Complex

Cited by 3 publications

References 7 publications

Development of a revolute-type kinematic model for human upper limb using a matrix approach

Development of a revolute-type kinematic model for human upper limb using a matrix approach

Humanoid robots to mechanically stress human cells grown in soft bioreactors

Eight-Bar Elbow Joint Exoskeleton Mechanism

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