TY - GEN
T1 - Design Consideration for Arm Mechanics and Attachment Positions of a Wearable Robot Arm
AU - Drohne, Lars
AU - Nakabayashi, Koki
AU - Iwasaki, Yukiko
AU - Iwata, Hiroyasu
N1 - Funding Information:
*This research is supported by JST ERATO Grant Number JPMJER1701. Lars Drohne and Koki Nakabayashi contributed equally to the work. Lars Drohne is with the Hamburg University of Technology, Hamburg, 21073 Germany (e-mail: lars.drohne@tuhh.de) Koki Nakabayashi and Yukiko Iwasaki is with the Department of Modern Mechanical Engineering, Waseda University, Shinjuku, MA 162-0056 Japan (e-mail: koki-nakabayashi@iwata.mech.waseda.ac.jp). Hiroyasu Iwata is with the Faculty of Modern Mechanical Engineering, Waseda University, Shinjuku, MA 162-0056 Japan.
Funding Information:
ACKNOWLEDGMENT The research is financially supported by Waseda University Global Robot Academia Institute and Waseda University Green Computing Systems Research Organization. The author would like to thank Shuhei Izuka and Shota Takahashi for commitments to the experiment.
PY - 2019/4/25
Y1 - 2019/4/25
N2 - This paper presents an experimental evaluation of a usability of a wearable robot arm in different combinations of arm mechanics and attachment positions. A wearable robot arm has been recently proposed as a new system concept for the assistance of activities of daily living. Wearable robot arms are expected to enhance our physical abilities and perform multiple tasks simultaneously. However, the usability study of a wearable robot arm has not been discussed sufficiently in the concept design phase. In particular, an experimental comparison of arm mechanics and attachment positions has not been verified in the previous work. We therefore conducted a usability evaluation with a hypothetical attached robot arm which performs a representative task of activities of daily living. The time required for the experimental task and score of NASA Task Load index was evaluated. Two design concepts of a wearable robot arm is suggested according to the usability analyses: shoulder attached articulated robot arm and chest attached spherical robot arm.
AB - This paper presents an experimental evaluation of a usability of a wearable robot arm in different combinations of arm mechanics and attachment positions. A wearable robot arm has been recently proposed as a new system concept for the assistance of activities of daily living. Wearable robot arms are expected to enhance our physical abilities and perform multiple tasks simultaneously. However, the usability study of a wearable robot arm has not been discussed sufficiently in the concept design phase. In particular, an experimental comparison of arm mechanics and attachment positions has not been verified in the previous work. We therefore conducted a usability evaluation with a hypothetical attached robot arm which performs a representative task of activities of daily living. The time required for the experimental task and score of NASA Task Load index was evaluated. Two design concepts of a wearable robot arm is suggested according to the usability analyses: shoulder attached articulated robot arm and chest attached spherical robot arm.
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U2 - 10.1109/SII.2019.8700355
DO - 10.1109/SII.2019.8700355
M3 - Conference contribution
AN - SCOPUS:85065652732
T3 - Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
SP - 645
EP - 650
BT - Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/SICE International Symposium on System Integration, SII 2019
Y2 - 14 January 2019 through 16 January 2019
ER -