Kinematics Research and Verification of Exoskeleton Robot for Upper Limb Rehabilitative
In order to achieve man-machine collaboration more closely and determine a reasonable and accurate model of upper limb movement,according to the anatomical structure of upper limb,a design eightsection upper limb exoskeleton rehabilitation robot is proposed. Based on the usual upper limb robot to ma...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2018-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.11.017 |
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| author | Li Jing Cao Min |
| author_facet | Li Jing Cao Min |
| author_sort | Li Jing |
| collection | DOAJ |
| description | In order to achieve man-machine collaboration more closely and determine a reasonable and accurate model of upper limb movement,according to the anatomical structure of upper limb,a design eightsection upper limb exoskeleton rehabilitation robot is proposed. Based on the usual upper limb robot to make improvements,according to the complex structure of the upper limb to establish accurate equivalent kinematic model to achieve the robot and the internal structure of the shoulder joint alter accordance,and can alleviate the treatment of discomfort effectively. Then the reachable workspace of upper limb motion is simulated accurately.The simple inverse kinematics algorithm is used to solve each variable of joint. According to the characteristics of the human body,the rehabilitation trajectory planning is selected by the method of double-quaternion in task space and verified by SolidWorks,MATLAB and V-REP software. The rationality and feasibility of the design and algorithm is proved. |
| format | Article |
| id | doaj-art-3da5785d1c504f698dd9dd17d428bb98 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2018-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-3da5785d1c504f698dd9dd17d428bb982025-01-10T14:39:59ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392018-01-0142899529939596Kinematics Research and Verification of Exoskeleton Robot for Upper Limb RehabilitativeLi JingCao MinIn order to achieve man-machine collaboration more closely and determine a reasonable and accurate model of upper limb movement,according to the anatomical structure of upper limb,a design eightsection upper limb exoskeleton rehabilitation robot is proposed. Based on the usual upper limb robot to make improvements,according to the complex structure of the upper limb to establish accurate equivalent kinematic model to achieve the robot and the internal structure of the shoulder joint alter accordance,and can alleviate the treatment of discomfort effectively. Then the reachable workspace of upper limb motion is simulated accurately.The simple inverse kinematics algorithm is used to solve each variable of joint. According to the characteristics of the human body,the rehabilitation trajectory planning is selected by the method of double-quaternion in task space and verified by SolidWorks,MATLAB and V-REP software. The rationality and feasibility of the design and algorithm is proved.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.11.017Exoskeleton mechanismPrecise modelKinematicsSimulation |
| spellingShingle | Li Jing Cao Min Kinematics Research and Verification of Exoskeleton Robot for Upper Limb Rehabilitative Jixie chuandong Exoskeleton mechanism Precise model Kinematics Simulation |
| title | Kinematics Research and Verification of Exoskeleton Robot for Upper Limb Rehabilitative |
| title_full | Kinematics Research and Verification of Exoskeleton Robot for Upper Limb Rehabilitative |
| title_fullStr | Kinematics Research and Verification of Exoskeleton Robot for Upper Limb Rehabilitative |
| title_full_unstemmed | Kinematics Research and Verification of Exoskeleton Robot for Upper Limb Rehabilitative |
| title_short | Kinematics Research and Verification of Exoskeleton Robot for Upper Limb Rehabilitative |
| title_sort | kinematics research and verification of exoskeleton robot for upper limb rehabilitative |
| topic | Exoskeleton mechanism Precise model Kinematics Simulation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.11.017 |
| work_keys_str_mv | AT lijing kinematicsresearchandverificationofexoskeletonrobotforupperlimbrehabilitative AT caomin kinematicsresearchandverificationofexoskeletonrobotforupperlimbrehabilitative |