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Upper Arm Repositioning Performance with SHULDRD
Upper Arm Repositioning Performance with SHULDRD
Haptic Shoulder for Physical Human.mp43 DOF Torque Feedback Features
3 DOF Torque Feedback Features
Variable Stiffness: k = 1 N/m
Variable Stiffness: k = 5 N/m
Variable ROM: 45 degrees
Variable ROM: 90 degrees
ROM coupling between joints
Sponsor's Previous Work
Sponsor's Previous Work
Upper Arm Repositioning and Logrolling Maneuvers
Upper Arm Repositioning and Logrolling Maneuvers
Upper Arm Repositioning
Upper Arm Repositioning
Logrolling
Logrolling
Initial Mechanical Design Solutions
Initial Mechanical Design Solutions
Big and Small U-Joint
Big and Small U-Joint
Pros
Singular joint center
Achieves full shoulder ROM
Can track 3 DOF motion
One motor for each DOF
Easy to get force feedback
Cons
Limited space to mount motors on arm side
U-Joint with Differential Gear
U-Joint with Differential Gear
Pros
Effective singular joint center
Achieves full shoulder ROM
More space to mount motors on arm side
Cons
Complicated to track 3 DOF motion
Complicated to get force feedback as 2 motors are coupled
Upper Arm Repositioning Performance with Both Initial Design Solutions
Upper Arm Repositioning Performance with Both Initial Design Solutions
Upper Arm Repositioning | Big-Small U-Joint (1).MOVBig and Small U-Joint
Big and Small U-Joint
Upper Arm Repositioning performed with the Big and Small U-Joint design
Upper Arm Repositioning 1.MOVHuman Subject
Human Subject
Upper Arm Repositioning performed on a human subject
Upper Arm Repositioning | Motorized Joint (1).MOVU-Joint with Differential Gear
U-Joint with Differential Gear
Upper Arm Repositioning performed with the U-Joint with Differential Gear design
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