Design and Analysis of the Connection Mechanics in Robotic Exoskeletons to Improve the Kinematic Compliance with User’s Anatomy, Ph.D. Dissertation Sharif University of Technology ; Behzadipour, Saeed (Supervisor)
Abstract
User comfort in wearable robots and precise limb tracking of the robots' links can be considered as general and significant indicators of the robots' performance. On the other hand, due to the kinematic mismatches between the human body and conventional wearable robots, which often occur due to various reasons such as the kinematic differences between the body and robot joints (e.g. the knee joint), it seems unlikely to achieve a robot in which user's limbs comfortably follow its link without tracking error. In this study, in order to evaluate and improve the performance of the robot, two performance indices: limbs tracking error index (TEI) and user discomfort index (DI) were introduced,...
Cataloging briefDesign and Analysis of the Connection Mechanics in Robotic Exoskeletons to Improve the Kinematic Compliance with User’s Anatomy, Ph.D. Dissertation Sharif University of Technology ; Behzadipour, Saeed (Supervisor)
Abstract
User comfort in wearable robots and precise limb tracking of the robots' links can be considered as general and significant indicators of the robots' performance. On the other hand, due to the kinematic mismatches between the human body and conventional wearable robots, which often occur due to various reasons such as the kinematic differences between the body and robot joints (e.g. the knee joint), it seems unlikely to achieve a robot in which user's limbs comfortably follow its link without tracking error. In this study, in order to evaluate and improve the performance of the robot, two performance indices: limbs tracking error index (TEI) and user discomfort index (DI) were introduced,...
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