Research Papers - Dept of Computer Systems Engineering

Permanent URI for this collection https://rda.sliit.lk/handle/123456789/1253

Browse

Filters

2012 - 20132

Advanced Search

Filter by

Settings

Author: search.filters.author.Gopura, R. A. R. CSubject: search.filters.subject.upper limb

Search Results

Now showing 1 - 2 of 2
  • Thumbnail Image
    PublicationEmbargo
    Dexterity measure of upper limb exoskeleton robot with improved redundancy
    (IEEE, 2013-12-17) Gunasekara, M. P; Gopura, R. A. R. C; Jayawardena, T. S. S; Mann, G. K. I
    Exoskeleton manipulators are used for different applications in robotic field. Human motion is highly complicated and flexible; therefore obtain human like motion from exoskeleton manipulator becomes a challenge to researches in this field. This paper presents an improvement of dexterity measure as a result of adding redundancy to upper limb exoskeleton manipulator. Proposed manipulator has four degree of freedom. This takes the effect of DOF at human elbow and wrist of the upper limb. Dexterity of the manipulator is measured using manipulability index and minimum singular value. All measures are based on Jacobian of the manipulator. This four DOF manipulator is then modified by adding two more degrees of freedom to make total of six. Therefore with respect to task defined in operational space; modified exoskeleton manipulator operates as redundant. Manipulability index and minimum singular value are again determined for six degree of freedom modified exoskeleton manipulator. The effect of redundancy in order to improve the manipulation in upper limb exoskeleton robot is investigated in this study.
  • Thumbnail Image
    PublicationEmbargo
    Control methodologies for upper limb exoskeleton robots
    (IEEE, 2012-12-16) Gunasekara, J. M. P; Gopura, R. A. R. C; Jayawardena, T. S. S; Lalitharathne, S. W. H. M. T. D
    An exoskeleton robot is kind of a man-machine system which mostly uses combination of human intelligence and machine power. These robotic systems are used for different applications such as rehabilitation, human power amplification, motion assistance, virtual reality etc. Successful operation of an exoskeleton robot depends on correct selection of design and control methodologies. This paper reviews control methodologies used in upper limb exoskeleton robots. In the review, the control methods used in the exoskeleton robots are classified into three categories: control system based on human biological signal, nonbiological signal and platform independent control system. Different types of control methods under each category are compared and reviewed.