Design and kinematics of a modular robot for assistive tasks for the disabled

Carl A. Nelson, Mitchell A. Bruckner, Jay S. Chae, Judith M. Burnfield, Thad W. Buster, Guilherme M. Cesar, Chase M. Pfeifer, Prithviraj Dasgupta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a modular robot for adaptively providing assistance to individuals with spinal cord injury or other similar physical limitations. The design rationale is given, and details of prototyping are described. The robot’s kinematic model is elaborated, and preliminary testing and validation are presented.

Original languageEnglish (US)
Title of host publication43rd Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791859230
DOIs
StatePublished - Jan 1 2019
EventASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019 - Anaheim, United States
Duration: Aug 18 2019Aug 21 2019

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume5A-2019

Conference

ConferenceASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019
CountryUnited States
CityAnaheim
Period8/18/198/21/19

Fingerprint

Modular robots
Kinematics
Robot
Robots
Kinematic Model
Prototyping
Testing
Design

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation

Cite this

Nelson, C. A., Bruckner, M. A., Chae, J. S., Burnfield, J. M., Buster, T. W., Cesar, G. M., ... Dasgupta, P. (2019). Design and kinematics of a modular robot for assistive tasks for the disabled. In 43rd Mechanisms and Robotics Conference (Proceedings of the ASME Design Engineering Technical Conference; Vol. 5A-2019). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC2019-98011

Design and kinematics of a modular robot for assistive tasks for the disabled. / Nelson, Carl A.; Bruckner, Mitchell A.; Chae, Jay S.; Burnfield, Judith M.; Buster, Thad W.; Cesar, Guilherme M.; Pfeifer, Chase M.; Dasgupta, Prithviraj.

43rd Mechanisms and Robotics Conference. American Society of Mechanical Engineers (ASME), 2019. (Proceedings of the ASME Design Engineering Technical Conference; Vol. 5A-2019).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nelson, CA, Bruckner, MA, Chae, JS, Burnfield, JM, Buster, TW, Cesar, GM, Pfeifer, CM & Dasgupta, P 2019, Design and kinematics of a modular robot for assistive tasks for the disabled. in 43rd Mechanisms and Robotics Conference. Proceedings of the ASME Design Engineering Technical Conference, vol. 5A-2019, American Society of Mechanical Engineers (ASME), ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019, Anaheim, United States, 8/18/19. https://doi.org/10.1115/DETC2019-98011
Nelson CA, Bruckner MA, Chae JS, Burnfield JM, Buster TW, Cesar GM et al. Design and kinematics of a modular robot for assistive tasks for the disabled. In 43rd Mechanisms and Robotics Conference. American Society of Mechanical Engineers (ASME). 2019. (Proceedings of the ASME Design Engineering Technical Conference). https://doi.org/10.1115/DETC2019-98011
Nelson, Carl A. ; Bruckner, Mitchell A. ; Chae, Jay S. ; Burnfield, Judith M. ; Buster, Thad W. ; Cesar, Guilherme M. ; Pfeifer, Chase M. ; Dasgupta, Prithviraj. / Design and kinematics of a modular robot for assistive tasks for the disabled. 43rd Mechanisms and Robotics Conference. American Society of Mechanical Engineers (ASME), 2019. (Proceedings of the ASME Design Engineering Technical Conference).
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