scholarly journals Inverse kinematic analysis and trajectory planning of a modular upper limb rehabilitation exoskeleton

2019 ◽  
Vol 27 ◽  
pp. 123-132 ◽  
Author(s):  
Ge Li ◽  
Qianqian Fang ◽  
Tian Xu ◽  
Jie Zhao ◽  
Hegao Cai ◽  
...  
Keyword(s):  
Upper Limb ◽  
Trajectory Planning ◽  
Kinematic Analysis ◽  
Inverse Kinematic ◽  
Upper Limb Rehabilitation ◽  
Inverse Kinematic Analysis ◽  
Limb Rehabilitation

Design of a 5-DOF Rehabilitation Robot Mechanism for Upper Limb and its Kinematics Analysis

2010 ◽  
Vol 29-32 ◽  
pp. 293-298 ◽  
Author(s):  
Zhi Lan ◽  
Zhen Liang Li ◽  
Ya Li
Keyword(s):  
Activities Of Daily Living ◽  
Upper Limb ◽  
Trajectory Planning ◽  
Daily Living ◽  
Rehabilitation Robot ◽  
Kinematics Analysis ◽  
Important Data ◽  
Upper Limb Rehabilitation ◽  
Set Up ◽  
Limb Rehabilitation

A novel 5-DOF upper limb rehabilitation robot, which can implement single joint and multi-joint complex motions and provide activities of daily living (ADL) training for hemiplegic patients, was presented. The solutions of the robot’s kinematics equation were set up by the method of D-H according to the 5-DOF rehabilitation robot for upper limb. Based on the software of ADAMS, the mechanism was simulated and analyzed. Thus the movement of robot is determinate in a certain condition of importation. It offered important data for the trajectory planning and the actual intellective control of rehabilitating robot.

Design and Kinematic Analysis of Co-Exoskeleton with Passive Translational Joints for Upper-Limb Rehabilitation

2018 ◽  
Vol 15 (05) ◽  
pp. 1850020 ◽  
Author(s):  
Leiyu Zhang ◽  
Jianfeng Li ◽  
Junhui Liu ◽  
Peng Su ◽  
Chunzhao Zhang
Keyword(s):  
Upper Limb ◽  
Kinematic Analysis ◽  
Compensation Effect ◽  
Spinal Cord Injuries ◽  
Glenohumeral Joint ◽  
Motor Impairment ◽  
Vertical Movement ◽  
Upper Limb Rehabilitation ◽  
Kinematic Models ◽  
Limb Rehabilitation

A key approach for reducing motor impairment and regaining independence after spinal cord injuries or strokes is frequent and repetitive functional training. A compatible exoskeleton (Co-Exoskeleton) with four passive translational joints is proposed for the upper-limb rehabilitation. There are only three passive translational joints to track and assist movements of the glenohumeral joint (GH), where two joints are installed horizontally at the front section and another one at the connecting interface of the upper arm. This type of configuration can lower the influences of gravities of the exoskeleton device and upper extremity. The kinematic models of GH and the corresponding human–machine system are established using the analytical method. A numerical simulation of the kinematic models is implemented with MATLAB to emphatically analyze the kinematic characteristics of passive joints and the center of Co-Exoskeleton. The translational displacements of passive joints in four elevation planes are obtained during the elevating process. The results of the kinematic analysis show that the passive joints have similar motion characteristics under different elevation planes. Additionally, the position changes of GH in three directions can be tracked and compensated approximately. Co-Exoskeleton has an especially good compensation effect for the vertical movement of GH. The compensation effect and kinematic models are verified by using the elevating experiments. This research provides theoretical and methodological guidance for the ergonomic design and kinematic analysis of the rehabilitation exoskeleton.

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].

scholarly journals Kinematic Analysis of the Upper Limb Motor Strategies in Stroke Patients as a Tool towards Advanced Neurorehabilitation Strategies: A Preliminary Study

2014 ◽  
Vol 2014 ◽  
pp. 1-8 ◽  
Author(s):  
Irene Aprile ◽  
Marco Rabuffetti ◽  
Luca Padua ◽  
Enrica Di Sipio ◽  
Chiara Simbolotti ◽  
...  
Keyword(s):  
Upper Limb ◽  
Kinematic Analysis ◽  
Axial Rotation ◽  
Head Movements ◽  
Motor Deficit ◽  
Stroke Patients ◽  
Forward Displacement ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation ◽  
Motor Strategies

Advanced rehabilitation strategies of the upper limb in stroke patients focus on the recovery of the most important daily activities. In this study we analyzed quantitatively and qualitatively the motor strategies employed by stroke patients when reaching and drinking from a glass. We enrolled 6 hemiparetic poststroke patients and 6 healthy subjects. Motion analysis of the task proposed (reaching for the glass, bringing it to the mouth, and putting it back on the table) with the affected limb was performed. Clinical assessment using the Fugl-Meyer Assessment for Upper Extremity was also included. During the reaching for the glass the patients showed a reduced arm elongation and trunk axial rotation due to motor deficit. For this reason, as observed, they carried out compensatory strategies which included trunk forward displacement and head movements. These preliminary data should be considered to address rehabilitation treatment. Moreover, the kinematic analysis protocol developed might represent an outcome measure of upper limb rehabilitation processes.

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