Abstract
A novel wearable end-effector type upper limb assistive robot for stroke hemiplegic patients is proposed, and a 3 DOF 4R-5R parallel mechanism for this type of robots is presented. Assistive functions of the robot are finalized to motion and force assistance to allow patients to have their paralyzed limb perform auxiliary roles in ADL. Kinematics of this mechanism, including joint configuration and placement of three active joints, is presented, followed by displacement analysis and workspace analysis. Motion of the proposed mechanism is confirmed by an experimental prototype.
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Morita, R. et al. (2023). Kinematic Design and Analysis of a Wearable End-Effector Type Upper Limb Assistive Robot. In: Okada, M. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2023. Mechanisms and Machine Science, vol 148. Springer, Cham. https://doi.org/10.1007/978-3-031-45770-8_70
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DOI: https://doi.org/10.1007/978-3-031-45770-8_70
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