Description, characterization and assessment of a bio-inspired shoulder joint-first link robot for neuro-robotic applications

Sardellitti, I; Cattin, E; Roccella, S; Vecchi, F; Carrozza, MC; Dario, P; Artemiadis, PK; Kyriakopoulos, KJ

dc.contributor.author	Sardellitti, I	en
dc.contributor.author	Cattin, E	en
dc.contributor.author	Roccella, S	en
dc.contributor.author	Vecchi, F	en
dc.contributor.author	Carrozza, MC	en
dc.contributor.author	Dario, P	en
dc.contributor.author	Artemiadis, PK	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:44:00Z
dc.date.available	2014-03-01T02:44:00Z
dc.date.issued	2006	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31602
dc.subject	Biomechanical model	en
dc.subject	Exoskeleton	en
dc.subject	Neuro-rehabilitation	en
dc.subject	Neuro-robotics	en
dc.subject	Robotic arm	en
dc.subject.other	Biological organs	en
dc.subject.other	Biomechanics	en
dc.subject.other	Composition	en
dc.subject.other	Human form models	en
dc.subject.other	Joints (anatomy)	en
dc.subject.other	Neurology	en
dc.subject.other	Neuromuscular rehabilitation	en
dc.subject.other	Robotic arms	en
dc.subject.other	Robotics	en
dc.subject.other	Biomechanical models	en
dc.subject.other	Exoskeletons	en
dc.subject.other	Neuro robotics	en
dc.subject.other	Neurobotics exoskeleton	en
dc.subject.other	Intelligent robots	en
dc.title	Description, characterization and assessment of a bio-inspired shoulder joint-first link robot for neuro-robotic applications	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/BIOROB.2006.1639069	en
heal.identifier.secondary	http://dx.doi.org/10.1109/BIOROB.2006.1639069	en
heal.identifier.secondary	1639069	en
heal.publicationDate	2006	en
heal.abstract	The development of innovative exoskeletons for the upper limb requires a strong collaboration between robotics and neuroscience. The robotic system will be deeply coupled to the human user and the exoskeleton design should be based on the human model in terms of biomechanics, and control and learning strategies. This paper presents the preliminary results of the design process of the Neurobotics exoskeleton (NEUROexos). A bioinspired three joints-three links robotic arm is under development for implementing bioinspired control strategies and for obtaining a human-like robotic arm to be used for assessing active exoskeletons in fully safe conditions. In particular, this paper presents the shoulder joint-first link prototype, the selected actuation system, the actuator modelling and identification, and the experimental evaluation of the prototype capability to replicate the human shoulder kinematics during the execution of a catching task.	en
heal.journalName	Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006	en
dc.identifier.doi	10.1109/BIOROB.2006.1639069	en
dc.identifier.volume	2006	en
dc.identifier.spage	112	en
dc.identifier.epage	117	en