TY - GEN
T1 - The development of a new joint mechanism based on human shoulder morphology
AU - Sakai, Nobuo
AU - Sawae, Yoshinori
AU - Murakami, Teruo
PY - 2006
Y1 - 2006
N2 - The purpose of this study was to develop a new joint system based on human shoulder mechanism. The human shoulder joint has a ball joint mechanism that is surrounded by a number of muscles and is driven by the balance of those forces. The authors thought that the construction could realize 3 degrees of freedom with compact size and lightweight. An anatomical skeletal structure had been introduced to the mechanism, especially on the muscle arrangement. Muscles were replaced by wires and humeral head was altered by a ball joint. The movability of the mechanism was evaluated by the relative ratio of the moment arm to the ball radius produced from the wires that surround the ball joint. Several rearrangements in improvement processes enabled the joint to be driven by 6 wires. Inverse kinematics was solved by artificial neural network (NN) that learned the data sets of arm postures and wire displacements. Additional differential outputs were installed in the NN. The principle of virtual work was applied to drive the joint by a feedback control system in the range of 3 degrees of freedom. The movability and capability of the new joint system was satisfactorily demonstrated in this report.
AB - The purpose of this study was to develop a new joint system based on human shoulder mechanism. The human shoulder joint has a ball joint mechanism that is surrounded by a number of muscles and is driven by the balance of those forces. The authors thought that the construction could realize 3 degrees of freedom with compact size and lightweight. An anatomical skeletal structure had been introduced to the mechanism, especially on the muscle arrangement. Muscles were replaced by wires and humeral head was altered by a ball joint. The movability of the mechanism was evaluated by the relative ratio of the moment arm to the ball radius produced from the wires that surround the ball joint. Several rearrangements in improvement processes enabled the joint to be driven by 6 wires. Inverse kinematics was solved by artificial neural network (NN) that learned the data sets of arm postures and wire displacements. Additional differential outputs were installed in the NN. The principle of virtual work was applied to drive the joint by a feedback control system in the range of 3 degrees of freedom. The movability and capability of the new joint system was satisfactorily demonstrated in this report.
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U2 - 10.1109/BIOROB.2006.1639219
DO - 10.1109/BIOROB.2006.1639219
M3 - Conference contribution
AN - SCOPUS:33845573948
SN - 1424400406
SN - 9781424400409
T3 - Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
SP - 982
EP - 987
BT - Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
T2 - 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Y2 - 20 February 2006 through 22 February 2006
ER -