Torque characteristics of shoulder and elbow joints of assistive robotic arms handling an object

This paper analyses the torque characteristics of the shoulder and elbow joints of an assistive robotic arm for handling an object. In order to investigate those torque characteristics, we consider a model of a humanoid robot arm and simulate typical object lifting and transferring tasks by using the robot arm. Several simulations will show that the available torque patterns and ranges of the shoulder and elbow joints required for the load effect of an object can be identified earlier in the design process of a robotic arm. As a result, this study is helpful for us to determine effectively the specifications of any actuators employed in the shoulder and elbow joints of various humanoid and robotic arms. It is also valuable for a rehabilitation doctor to determine an adequate exercise prescription for an arm rehabilitation using a load.