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dc.contributor.author Gunasekara, jmp
dc.contributor.author Gopura, RARC
dc.contributor.author Jayawardena, TSS
dc.date.accessioned 2018-09-28T23:41:46Z
dc.date.available 2018-09-28T23:41:46Z
dc.identifier.uri http://dl.lib.mrt.ac.lk/handle/123/13599
dc.description.abstract Enhancing physical Human-Robot Interaction (pHRI) is an important design aspect in upper limb exoskeleton robots. The level of manipulation provided by an exoskeleton robot has a significant effect to perform daily tasks. This paper evaluate performance of a 6 degree of freedom (DoF) upper limb exoskeleton robot. The detailed mechanical design of the robot is presented with the novel features included in order to improve the pHRI. The exoskeleton robot consists of six DoF and two flexible bellow couplings are used to provide translational DoF at wrist and elbow joints. Moreover, flexible bellow couplings are positioned at specific locations in order to enhance the kinematic redundancy. The benefit of compliance due to the flexible bellow coupling at wrist joint of the robot is verified with reference to manipulability variation of the kinematic model of human lower arm. en_US
dc.language.iso en en_US
dc.subject compliance, exoskeleton, redundancy, manipulability en_US
dc.title Redundant upper limb exoskeleton robot with passive compliance en_US
dc.type Conference-Abstract en_US
dc.identifier.faculty Engineering en_US
dc.identifier.department Department of Mechanical Engineering en_US
dc.identifier.department Department of Textile and Clothing Technology en_US
dc.identifier.year 2014 en_US
dc.identifier.conference 7th International Conference on Information and Automation for Sustainability en_US
dc.identifier.place Colombo en_US
dc.identifier.email malingunasekara@gmail.com en_US
dc.identifier.email gopura@ieee.org en_US
dc.identifier.email jaya@uom.lk en_US
dc.identifier.doi 10.1109/ICIAFS.2014.7069595 en_US


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