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Manipulability Inclusive Principle for Assistive Result Evaluation of Assistive Mechanism
Joint Authors
Source
Journal of Healthcare Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-09-24
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Abstract EN
In this paper, from the aspect of kinematics, we reveal the physical significance of assistance for the assistive mechanism.
Then, Manipulability Inclusive Principle (MIP) is proposed to evaluate assistive mechanism’s assistive feasibility and assistive effect through the manipulability comparison between the assisted limb and slave-active-assistive mechanism.
The optimization based on MIP can make the assistive mechanism realize better kinematical performance and assistance.
The design and optimization of the assistive mechanism should keep the assistive mechanism from interfering with human’s movements in the expected workspace.
More importantly, it should also keep the assistive mechanism not only have better kinematical performance on symmetry, isotropy, etc.
but also be able to provide better assistance for human.
The application on the human lower-limb straight-walking power-assisting mechanism shows that the design and optimization based on MIP can find out the assistive mechanism which satisfies assistive feasibility and realizes better assistive effect in the whole expected workspace.
American Psychological Association (APA)
Liang, Wenyuan& Yu, Yong. 2018. Manipulability Inclusive Principle for Assistive Result Evaluation of Assistive Mechanism. Journal of Healthcare Engineering،Vol. 2018, no. 2018, pp.1-16.
https://search.emarefa.net/detail/BIM-1187070
Modern Language Association (MLA)
Liang, Wenyuan& Yu, Yong. Manipulability Inclusive Principle for Assistive Result Evaluation of Assistive Mechanism. Journal of Healthcare Engineering No. 2018 (2018), pp.1-16.
https://search.emarefa.net/detail/BIM-1187070
American Medical Association (AMA)
Liang, Wenyuan& Yu, Yong. Manipulability Inclusive Principle for Assistive Result Evaluation of Assistive Mechanism. Journal of Healthcare Engineering. 2018. Vol. 2018, no. 2018, pp.1-16.
https://search.emarefa.net/detail/BIM-1187070
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1187070