Anthropomorphic Arm Design Of Medical Assistive Robot For Human-Friendly Interaction With Ppg Signal Sensor

Abstract

Nowadays, the number of patients is increasing daily along with the global population. The benefits of technology are extending people's lives, but the difficulty is that there has always been a lack of qualified doctor in the medical field especially in time of urgency during the pandemic. And the medical asstive robot was to design and implement which plays the role of a nurse. In order to enhance the interaction between the medical assistive robot with patients, our goal is develop 3 Degree of Freedom (DoF) anthropomorphic arm for the new version of robot system which can move forward and backward. The result develop by focusing on analyze the kinematics and dynamics problems base on Denavit-Hartenberg (D-H) parameters. Moreover, the results of simulation is demonstrated by Graphics User Interface (GUI) by Matlab which can analyze the kinematics problem such as forward kinematics and inverse kinematics . The trajectory planning is illustrated by RoboAnalyzer software.