Abstract
In this work, we investigate the measure of isotropy of a manipulator based on its Jacobian matrix. Our manipulator is an exoskeleton arm robot for human physical therapy. An exoskeleton arm robot is wearable robot with joints and links corresponding to those of the human body. Our goal is to derive dexterity measures called the measure of isotropy which can be used for both design and real-time control of a manipulator. Generally, a dexterity measure must be independent of the scale of a manipulator for design and must be expressed analytically so that it can be used for real-time control. Of course, every dexterity measure must bear a physical meaning.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
