@inproceedings{bcfab6bb3b5347829f94fe498089c623,
title = "Configuration Optimization of a Dual-Arm Rehabilitation Robot",
abstract = "Robotic rehabilitation devices have gained high popularity in upper limb physical therapy for stroke patients. Dual-Arm rehabilitation robot system has advantages in achieving coordinated motions for the upper arm and forearm segments. In this paper, an efficient method for the design and evaluation of the kinematics of a dual-arm robot for upper limb rehabilitation, is presented. First, requirements for an upper limb rehabilitation robot are analyzed and candidate manipulator structures are presented. Then, workspace and manipulability, which are served as the criterion of the optimization configuration of a dual-arm rehabilitation robot, are analyzed. Thereafter, the optimal configuration is modeled and simulated to verify the method. Finally, simulation results are shown.",
keywords = "kinematics analysis, manipulability, optimization, rehabilitation, upper limb, workspace",
author = "Guofeng Li and Siqi Cai and Longhan Xie",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 3rd International Conference on Robotics and Automation Engineering, ICRAE 2018 ; Conference date: 17-11-2018 Through 19-11-2018",
year = "2018",
month = dec,
day = "21",
doi = "10.1109/ICRAE.2018.8586738",
language = "英语",
series = "2018 3rd International Conference on Robotics and Automation Engineering, ICRAE 2018",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "55--59",
booktitle = "2018 3rd International Conference on Robotics and Automation Engineering, ICRAE 2018",
address = "美国",
}