Analysis, evaluation and development of wheelchair-mounted robotic arms

This paper focuses on kinematic analysis and evaluation of wheelchair mounted robotic arms (WMRA). It addresses the kinematics of the WMRA with respect to its ability to reach common positions while performing activities of daily living (ADL). A procedure is developed for the kinematic analysis and...

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Bibliographic Details
Main Authors: Alqasemi, R.M., McCaffrey, E.J., Edwards, K.D., Dubey, R.V.
Format: Conference Proceeding
Language:English
Subjects:
Arm
Cost function
Manipulators
Mechanical engineering
Mobile robots
Open loop systems
Rehabilitation robotics
Robot kinematics
Spine
Wheelchairs
Online Access:Request full text
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Summary:This paper focuses on kinematic analysis and evaluation of wheelchair mounted robotic arms (WMRA). It addresses the kinematics of the WMRA with respect to its ability to reach common positions while performing activities of daily living (ADL). A procedure is developed for the kinematic analysis and evaluation of a WMRA. In an effort to evaluate two commercial WMRAs, the procedure for kinematic analysis is applied to each manipulator. Design recommendations and insights with regard to each device are obtained and used to design a new WMRA to overcome the limitations of these devices. This method benefits the researchers by providing a standardized procedure for kinematic analysis of WMRAs that is capable of evaluating independent designs.
ISSN:1945-7898
1945-7901
DOI:10.1109/ICORR.2005.1501144