Load distribution algorithms for redundantly actuated manipulator resembling the human upper-extremity

2016 ◽  
Author(s):  
Abid Imran ◽  
Sungon Lee ◽  
Byung-Ju Yi
Keyword(s):  
Upper Extremity ◽  
Load Distribution ◽  
Redundantly Actuated ◽  
Distribution Algorithms

Reconfiguration of the upper extremity relative to the pushrim affects load distribution during wheelchair propulsion

2013 ◽  
Vol 35 (8) ◽  
pp. 1141-1149 ◽  
Author(s):  
Joseph M. Munaretto ◽  
Jill L. McNitt-Gray ◽  
Henryk Flashner ◽  
Philip S. Requejo
Keyword(s):  
Upper Extremity ◽  
Load Distribution ◽  
Wheelchair Propulsion

Effects of Upper Extremity Load Distribution on Weight-Carrying in Men With Ischemic Heart Disease

1993 ◽  
Vol 13 (1) ◽  
pp. 37-42 ◽  
Author(s):  
Betsy Foss-Campbell ◽  
Lois Sheldahl ◽  
Nancy Wilke ◽  
Sara Dougherty ◽  
Scot Levandoski ◽  
...  
Keyword(s):  
Heart Disease ◽  
Ischemic Heart Disease ◽  
Upper Extremity ◽  
Load Distribution ◽  
Ischemic Heart ◽  
Weight Carrying

Analysis of the Weighting Matrix for Load Distribution Using Weighted Pseudoinverse in a Redundantly Actuated System

Volume 2 ◽  
2004 ◽  
Author(s):  
Dong Il Park ◽  
Soo Hyun Kim ◽  
Yoon Keun Kwak
Keyword(s):  
Load Distribution ◽  
Redundant Actuation ◽  
Maximum Torque ◽  
Distribution Method ◽  
Torque Distribution ◽  
Weighting Matrix ◽  
Weighted Pseudoinverse ◽  
Actuation System ◽  
Redundantly Actuated ◽  
Stiffness Control

Redundant actuation indicates a situation when there are more actuators than a system’s mobility. A redundant actuated system has many strengths, such as better performance than a non-redundant system, avoiding singularity, reducing impact force using active stiffness control and fault tolerance. However, there are some issues on economic efficiency and minimization of a system, because redundant actuation can use more actuators than non-redundant actuation. Also, in a redundant actuation system, the actuator torque does not have one solution, but rather there are infinite torque sets even though a robot works on the same task. Therefore, it is very important to select a torque distribution method that is suitable for the objectives of the robot. In this paper, we used the weighted pseudoinverse matrix for torque distribution. This method is applied to a five bar link system and the influence of the weighting variables is analyzed. By adjusting the weighting values, we can find the relation between the actuator input and the weighting value and obtain various torque sets in real time. In other words, we find how each actuator torque changes according to the variation of each weighting value and how much the maximum torque reduce for the suggested weighting matrices.

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