Kinematic performance enhancement of wheelchair-mounted robotic arm by adding a linear drive

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Authors

Colleges, School and Institutes

External organisations

  • University of Brescia

Abstract

Wheelchair-Mounted Robotic Arms have been used to help impaired people to reach objects and perform essential activities in an autonomous way. Different available models are presented in this paper and a simple design is proposed to improve the kinematic performances of the integrated system in order to allow the user to increase its capability of interaction with home environment. To this end, a linear drive has been added to the Raptor model in order to move along the wheelchair. The benefit of the proposed development has been proved with a kinematic performance assessment procedure, which has analyzed critical points in the 3D space, providing 26% increase in performance with respect to the existing solution.

Details

Original languageEnglish
Title of host publication2016 IEEE International Symposium on Medical Measurements and Applications, MeMeA 2016 - Proceedings
Publication statusPublished - 4 Aug 2016
Event11th IEEE International Symposium on Medical Measurements and Applications, MeMeA 2016 - Benevento, Italy
Duration: 15 May 201618 May 2016

Publication series

Name2016 IEEE International Symposium on Medical Measurements and Applications, MeMeA 2016 - Proceedings

Conference

Conference11th IEEE International Symposium on Medical Measurements and Applications, MeMeA 2016
Country/TerritoryItaly
CityBenevento
Period15/05/1618/05/16

Keywords

  • disability, kinematics, manipulator, robotic arm, wheelchair