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

doi:10.1115/DETC2019-98011

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 proceeding › Conference 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 language	English (US)
Title of host publication	43rd Mechanisms and Robotics Conference
Publisher	American Society of Mechanical Engineers (ASME)
ISBN (Electronic)	9780791859230
DOIs	https://doi.org/10.1115/DETC2019-98011
State	Published - 2019
Event	ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019 - Anaheim, United States Duration: Aug 18 2019 → Aug 21 2019

Publication series

Name	Proceedings of the ASME Design Engineering Technical Conference
Volume	5A-2019

Conference

Conference	ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019
Country	United States
City	Anaheim
Period	8/18/19 → 8/21/19

ASJC Scopus subject areas

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

Access to Document

10.1115/DETC2019-98011

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Cite this

Nelson, C. A., Bruckner, M. A., Chae, J. S., Burnfield, J. M., Buster, T. W., Cesar, G. M., Pfeifer, C. 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 proceeding › Conference 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, 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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