매니퓰러빌리티 분석을 기반한 상지 엑소스켈레톤 로봇의 관절 배치 설계 방법론

초록

Exoskeleton robots have been developed to augment the body's strength and aid rehabilitation. Due to the high risk of injury to the upper limbs in industrial sites, various upper-limb exoskeleton robots have been proposed. However, most exoskeleton robots mainly consist of pitch and yaw joints, unlike with the joint configuration of the anatomical shoulder. The difference can potentially hinder the body's natural motion. To mitigate the potential hinderance, we present a design methodology of the joint configuration using the manipulability analysis of the upper limb exoskeleton. To do this, we used a motion capture system to capture the movements of human anatomical joints and analyzed their manipulability.

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