1,721,347 research outputs found
EMG recording during robot-assisted exercise as support to rehabilitation planning of SCI persons
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Scale di valutazione per il recupero dell’arto inferiore e del cammino nella riabilitazione robotica
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Bio-inspired kinematical control of redundant robotic manipulators
No full textPurpose – This paper aims to propose an innovative kinematic control algorithm for redundant robotic manipulators. The algorithm takes advantage of a bio-inspired approach.
Design/methodology/approach – A simplified two-degree-of-freedom model is presented to handle kinematic redundancy in the x-y plane; an extension to three-dimensional tracking tasks is presented as well. A set of sample trajectories was used to evaluate the performances of the proposed algorithm.
Findings – The results from the simulations confirm the continuity and accuracy of generated joint profiles for given end-effector trajectories as well as algorithm robustness, singularity and self-collision avoidance.
Originality/value – This paper shows how to control a redundant robotic arm by applying human upper arm-inspired concept of inter-joint dependency
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