There has been significant progress in bringing commercially-viable wheelchair mounted robotic arms (WMRA) into the marketplace in the past 30 years. This paper focuses on kinematic analysis and evaluation of such robotic arms. It addresses the kinematics of the WMRA with respect to its ability to reach common positions while performing activities of daily living (ADL). A procedure is developed for the kinematic analysis and evaluation of a wheelchair mounted robotic arm. In addition to developing the analytical procedure, the manipulator is evaluated, and design recommendations and insights are obtained. Current commercially-available wheelchair mountable robotic manipulators have been designed specifically for use in rehabilitation robotics. In an effort to evaluate two commercial manipulators, the procedure for kinematic analysis is applied to each manipulator. Design recommendations with regard to each device are obtained. This method will benefit the researchers by providing a standardized procedure for kinematic analysis of WMRAs that is capable of evaluating independent designs.
Skip Nav Destination
ASME 2004 International Mechanical Engineering Congress and Exposition
November 13–19, 2004
Anaheim, California, USA
Conference Sponsors:
- Bioengineering Division
ISBN:
0-7918-4703-9
PROCEEDINGS PAPER
Kinematic Analysis and Evaluation of Wheelchair Mounted Robotic Arms
Edward J. McCaffrey,
Edward J. McCaffrey
University of South Florida
Search for other works by this author on:
Redwan M. Alqasemi,
Redwan M. Alqasemi
University of South Florida
Search for other works by this author on:
Rajiv V. Dubey
Rajiv V. Dubey
University of South Florida
Search for other works by this author on:
Edward J. McCaffrey
University of South Florida
Redwan M. Alqasemi
University of South Florida
Rajiv V. Dubey
University of South Florida
Paper No:
IMECE2004-60270, pp. 145-150; 6 pages
Published Online:
March 24, 2008
Citation
McCaffrey, EJ, Alqasemi, RM, & Dubey, RV. "Kinematic Analysis and Evaluation of Wheelchair Mounted Robotic Arms." Proceedings of the ASME 2004 International Mechanical Engineering Congress and Exposition. Advances in Bioengineering. Anaheim, California, USA. November 13–19, 2004. pp. 145-150. ASME. https://doi.org/10.1115/IMECE2004-60270
Download citation file:
12
Views
Related Proceedings Papers
Kinematics of an Origami Inspired Millipede Robot
IDETC-CIE2022
Related Articles
Motion Generation of Planar Six- and Eight-Bar Slider Mechanisms as Constrained Robotic Systems
J. Mechanisms Robotics (August,2015)
Statistical Determination of Decision-Making Regions for Branching Paths: An Algorithm With a Wheelchair Assistance Application
Letters Dyn. Sys. Control (January,2021)
Evaluation of an Arm Support With Trunk Motion Capability
J. Med. Devices (December,2016)
Related Chapters
Electric Powered Wheelchair Based on Multimaster Architecture
International Conference on Mechanical and Electrical Technology, 3rd, (ICMET-China 2011), Volumes 1–3
Feedback-Aided Minimum Joint Motion
Robot Manipulator Redundancy Resolution
Self-Motion Planning with ZIV Constraint
Robot Manipulator Redundancy Resolution