Redundancy Resolution of the Human Arm and an Upper Limb Exoskeleton

2012 ◽  
Vol 59 (6) ◽  
pp. 1770-1779 ◽  
Author(s):  
Hyunchul Kim ◽  
Levi Makaio Miller ◽  
Nancy Byl ◽  
G. Abrams ◽  
J. Rosen
Keyword(s):  
Upper Limb ◽  
Redundancy Resolution ◽  
Upper Limb Exoskeleton ◽  
Human Arm

scholarly journals An innovative equivalent kinematic model of the human upper limb to improve the trajectory planning of exoskeleton rehabilitation robots

2021 ◽  
Vol 12 (1) ◽  
pp. 661-675
Author(s):  
Qiaolian Xie ◽  
Qiaoling Meng ◽  
Qingxin Zeng ◽  
Hongliu Yu ◽  
Zhijia Shen
Keyword(s):  
Upper Limb ◽  
Trajectory Planning ◽  
Wrist Joint ◽  
Kinematic Model ◽  
Human Motion ◽  
Upper Limb Exoskeleton ◽  
Rehabilitation Robots ◽  
Proposed Model ◽  
Human Arm ◽  
Human Upper Limb

Abstract. Upper limb exoskeleton rehabilitation robots have been attracting significant attention by researchers due to their adaptive training, highly repetitive motion, and ability to enhance the self-care capabilities of patients with disabilities. It is a key problem that the existing upper limb exoskeletons cannot stay in line with the corresponding human arm during exercise. The aim is to evaluate whether the existing upper limb exoskeleton movement is in line with the human movement and to provide a design basis for the future exoskeleton. This paper proposes a new equivalent kinematic model for human upper limb, including the shoulder joint, elbow joint, and wrist joint, according to the human anatomical structure and sports biomechanical characteristics. And this paper analyzes the motion space according to the normal range of motion of joints for building the workspace of the proposed model. Then, the trajectory planning for an upper limb exoskeleton is evaluated and improved based on the proposed model. The evaluation results show that there were obvious differences between the exoskeleton prototype and human arm. The deviation between the human body and the exoskeleton of the improved trajectory is decreased to 41.64 %. In conclusion, the new equivalent kinematics model for the human upper limb proposed in this paper can effectively evaluate the existing upper limb exoskeleton and provide suggestions for structural improvements in line with human motion.

A novel human-robot interface based on soft skin sensor designed for the upper-limb exoskeleton

2021 ◽  
pp. 095440622110358
Author(s):  
Zhirui Zhao ◽  
Xing Li ◽  
Mingfang Liu ◽  
Xingchen Li ◽  
Haoze Gao ◽  
...  
Keyword(s):  
Upper Limb ◽  
Control Method ◽  
Human Robot Interaction ◽  
Upper Limb Exoskeleton ◽  
Interaction Control ◽  
Human Arm ◽  
Primary Means ◽  
Arm Motion ◽  
Robot Cooperation ◽  
Arm Strength

The upper-limb exoskeleton is capable of enhancing human arm strength beyond normal levels, whereas deriving the operator’s desired action straightforward turns out to be one of the significant difficulties facing human-robot interaction research. In the study, the human-robot interface was presented to regulate the exoskeleton tracking human elbow motion trajectory that employed the contact force signals between the exoskeleton and its operator as the primary means of information transportation. The signals were recorded by adopting the novel soft skin sensors attached to the bracket on the exoskeleton linkage, which could reflect the human arm motion intention through the virtual admittance model and adaptive control. Subsequently, a 1-DOF upper-limb exoskeleton was designed to illustrate the performance of the proposed sensor and the interaction control method in the human-robot cooperation experiment.

scholarly journals IKO: A Five Actuated DoF Upper Limb Exoskeleton Oriented to Workplace Assistance

2009 ◽  
Vol 6 (2) ◽  
pp. 143-155 ◽  
Author(s):  
Felix Martinez ◽  
Aron Pujana-Arrese ◽  
Iban Retolaza ◽  
Irantzu Sacristan ◽  
Jon Basurko ◽  
...  
Keyword(s):  
Upper Limb ◽  
Power Transmission ◽  
Control Strategies ◽  
Dynamic Performance ◽  
Relative Displacement ◽  
Point Of View ◽  
Routine Activity ◽  
Upper Limb Exoskeleton ◽  
Reachable Workspace ◽  
Human Arm

IKerlan’s Orthosis (IKO) is an upper limb exoskeleton oriented to increasing human force during routine activity at the workplace. Therefore, it can be considered as a force-amplification device conceived to work in collaboration with the human arm and implementing biomimetic principles. The aim of the proposed design is to find the best compromise between maximum reachable workspace and minimum moving mass, which are the key factors for obtaining an ergonomic, wearable exoskeleton. It consists of five actuated degree of freedom (DoF) to move the human arm and three non-actuated DoF between the back and shoulder to allow relative displacement of the sterno-clavicular joint. Conventional electrical motors are used for most of the DoF and pneumatic muscles for one of them (forearm rotation). Power transmission is based on Bowden cables. This paper presents the IKO design, the mechanical structure of a first prototype and the redesign process from an aesthetic point of view. Controller set-up and control strategies are also shown, together with dynamic performance from experimental results.

Analytical Inverse Kinematic Resolution of a Redundant Exoskeleton for Upper-Limb Rehabilitation

2016 ◽  
Vol 13 (03) ◽  
pp. 1550042 ◽  
Author(s):  
Qing-Cong Wu ◽  
Xing-Song Wang ◽  
Feng-Po Du
Keyword(s):  
Upper Limb ◽  
Inverse Kinematic ◽  
Human Robot Interaction ◽  
Additional Parameter ◽  
Redundancy Resolution ◽  
Upper Limb Rehabilitation ◽  
Human Arm ◽  
Swivel Angle ◽  
Limb Rehabilitation ◽  
Mean Square Errors

Robot-assisted therapy has played a significant role in helping the disabled patients to restore motor functions. In this paper, a redundant exoskeleton is developed for upper-limb rehabilitation. An analytical methodology for obtaining the inverse kinematic solution of the exoskeleton is presented to provide synchronized movement with patients and ensure natural human–robot interaction. To mathematically express the redundancy problem, the swivel angle of elbow is introduced as an additional parameter to specify the human arm congratulation with a predefined wrist location. A kinematic criterion is proposed to determine the swivel angle by imitating the natural reflexive reaction of human arm. The effectiveness of the proposed strategy is experimentally evaluated via four representative types of upper-limb motion tasks. During the experiments, the actual kinematic data of human arm is collected by utilizing an articulated motion capture system integrated with inertial sensors and, after that, compared to the estimation results generated by the proposed redundancy resolution. The experimental results indicate that the kinematic criterion of swivel angle is suitable to describe the free reaching movement without additional constraints. Moreover, with the estimated swivel angles, the root mean square errors between the actual and calculated joint angles are normally less than 8[Formula: see text].

Novel Adaptive Reaching Law for Sliding Mode Control of an Upper Limb Exoskeleton Robot*

2020 ◽  
Author(s):  
Brahim Brahmi ◽  
Khaled El-Monajjed ◽  
Mohammad Habibur Rahman ◽  
Tanvir Ahmed ◽  
Claude El-Bayeh ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Upper Limb ◽  
Sliding Mode ◽  
Reaching Law ◽  
Mode Control ◽  
Upper Limb Exoskeleton ◽  
Exoskeleton Robot
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