Wearable cable-driven upper arm exoskeleton - motion with transmitted joint force and moment minimization.
Ying MaoSunil Kumar AgrawalPublished in: ICRA (2010)
Keyphrases
- joint space
- end effector
- human arm
- degrees of freedom
- position control
- joint angles
- inverse kinematics
- robot arm
- robotic arm
- humanoid robot
- vision system
- robotic manipulator
- robot manipulators
- control scheme
- sagittal plane
- tactile sensing
- accelerometer data
- visual servoing
- human motion
- motion planning
- configuration space
- force feedback
- image sequences
- space time
- optical flow
- motion capture
- objective function
- motion analysis
- camera motion
- human body
- augmented reality
- position and orientation
- motion segmentation
- motion estimation
- fiber optic
- inertial sensors
- moving objects
- pose estimation
- force control
- motion tracking
- motion model
- activity recognition
- ubiquitous computing
- control strategies