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.


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    Title :

    Dexterity Measures for 4DOF Exoskeleton Robot



    Published in:

    Publication date :

    2014-08-18


    Size :

    5 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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