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CSME 2018/06
Volume 39 No.3
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245-254
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Displacement and Force Analyses of an Upper Limb Driving a Rehabilitation Robot Using FR-SUCr-U Model
Shen-Tarng Chioua, Hao-Che Lioub, Ming-Shaung Ju a and Chou-Ching Ko Linc
aDepartment of Mechanical Engineering, National Cheng Kung University, Tainan City , Taiwan
bDepartment of R & D, JIH I Machinery Co., Ltd Tai chung City , Taiwan 420
cDepartment of Neurology , National Cheng Kung University, Tainan City , Taiwan
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Abstract:
The main purpose of this study is to develop a biomechanical model of the upper extremity for analyzing joint displacements and forces of the limb when it drives a rehabilitation robot. An S-SUC r-U chain is pro posed as a new skeleton model (from the shoulder joint to the wrist joint) of the upper limb, which has better description of pronation/supination of forearm when the humerus is held fixed. Based on the chain, an FR-SUC r-S spatial 4-bar mechanism is proposed for simulating the upper limb driving a rehabilitation robot. The displacement model of the 4 bar mechanism is then developed and two approaches, namely, three actuator and multi actuator approaches are adopted for the force analysis. For each approach, computer programs are developed and the results are compared with those of using the Adams software for validation. The results revealed that the multi actuator approach yields more reasonable results than the three actuator approach and the objective function of the optimization problem is feasible. The net joint torques and forces can be used in solving the load sharing of the muscles of the upper extremity in next stage of research.
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Keywords: upper extremity (limb), skeleton model, rehabilitation robot, displacement analysis, force analysis.
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©
2018
CSME , ISSN 0257-9731
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