期刊
出版社
IEEE
关键词
Exoskeleton Robot; Upper-limb Exoskeleton; Human Performance Augmentation; Human-Robot Interaction
资金
- National Research Foundation of Korea - Grant - Korean Government (Ministry of Science, ICT and Future Planning) [NRF-2016R1A2B4016361]
This paper presents design of mechanical structure and control method for an upper-limb powered exoskeleton platform. The exoskeleton shoulder frame is composed of 3 revolution joints that are connected serially to enable 3 DOF motion of human shoulder. Interaction forces between a user and the robot are used to predict the user's intention of motion. A prototype and preliminary experiments are also reported in this paper.
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