A Vector-Based Motion Retargeting Approach for Exoskeletons with Shoulder Girdle Mechanism
Shoulder girdle plays a dominant role in coordinating the natural movements of the upper arm. Inverse kinematics, optimization, and data-driven approaches are usually used to conduct motion retargeting. However, these methods do not consider shoulder girdle movement. When the kinematic structure of...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-05-01
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| Series: | Biomimetics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2313-7673/10/5/312 |
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| Summary: | Shoulder girdle plays a dominant role in coordinating the natural movements of the upper arm. Inverse kinematics, optimization, and data-driven approaches are usually used to conduct motion retargeting. However, these methods do not consider shoulder girdle movement. When the kinematic structure of human and that of exoskeletons share a similar joint configuration, analytical motion retargeting methods can be used for exoskeletons with shoulder girdle mechanism. This paper proposes a vector-based analytical motion retargeting approach for exoskeletons with shoulder girdle mechanism. The approach maps the vectors of the upper limb segments to the joint space using vector-based methods. Simulation results using four different motion descriptions confirm the method’s accuracy and efficiency. |
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| ISSN: | 2313-7673 |