Upper body of dummy humanoid robot with exterior deformation mechanism for evaluation of assistive products and technologies

Kunihiro Ogata, Tomoya Kawamura, Eiichi Ono, Tsuyoshi Nakayama, Nobuto Matsuhira

Research output: Contribution to journalArticle

5 Citations (Scopus)


People suffering from tetraplegia are unable to perform many activities of daily living, such as dressing and toileting. The purpose of this study is to develop a dummy humanoid robot to assess assistive products and technologies for patients of tetraplegia. This paper describes the mechanism, motion planning, and sensing system of the dummy robot. The proposed dummy robot has upper-arm mechanisms that simulate the human collarbones based on a functional anatomy. To realize a variety of body shapes, the proposed robot has deformation mechanisms that use linear actuators and rotating servo-motors. The sensing system of the dummy robot can measure clothing pressure before and after exterior deformation is measured, and can hence detect changes in it.

Original languageEnglish
Pages (from-to)600-608
Number of pages9
JournalJournal of Robotics and Mechatronics
Issue number4
Publication statusPublished - 2016 Aug 1



  • Dressing
  • Dummy robots
  • Humanoid robots
  • Spinal cord injury

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science(all)

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