Abstract
In this study, we developed a 5-DOF skill-assist arm for assisting human motion such as writing words. The assist arm consists of a 3-DOF serial arm and a 2-DOF rotational mechanism installed at a tip of the serial arm. The serial arm has 2 actuated joints and 1 passive joint and the 2-DOF mechanism has 2 passive joints. In this paper, assisting methods of virtual planes and trajectories in space using the assist arm are revealed and we confirm a possibility of the assist arm from the results of experiments of the methods.
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Schedule a callMore From: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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