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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MDPI AG
2025-05-01
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| Series: | Biomimetics |
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| Online Access: | https://www.mdpi.com/2313-7673/10/5/312 |
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| author | Jiajia Wang Shuo Pei Junlong Guo Mingsong Bao Yufeng Yao |
| author_facet | Jiajia Wang Shuo Pei Junlong Guo Mingsong Bao Yufeng Yao |
| author_sort | Jiajia Wang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-43ca972f0e5245d3a8a048f159a6ffc0 |
| institution | Kabale University |
| issn | 2313-7673 |
| language | English |
| publishDate | 2025-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj-art-43ca972f0e5245d3a8a048f159a6ffc02025-08-20T03:47:52ZengMDPI AGBiomimetics2313-76732025-05-0110531210.3390/biomimetics10050312A Vector-Based Motion Retargeting Approach for Exoskeletons with Shoulder Girdle MechanismJiajia Wang0Shuo Pei1Junlong Guo2Mingsong Bao3Yufeng Yao4State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaShandong Guoxing Smartech Co., Ltd., Qingdao 365500, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaShoulder 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.https://www.mdpi.com/2313-7673/10/5/312upper limb exoskeletonsmotion retargetingvector methodsmultiple motion representation methods |
| spellingShingle | Jiajia Wang Shuo Pei Junlong Guo Mingsong Bao Yufeng Yao A Vector-Based Motion Retargeting Approach for Exoskeletons with Shoulder Girdle Mechanism Biomimetics upper limb exoskeletons motion retargeting vector methods multiple motion representation methods |
| title | A Vector-Based Motion Retargeting Approach for Exoskeletons with Shoulder Girdle Mechanism |
| title_full | A Vector-Based Motion Retargeting Approach for Exoskeletons with Shoulder Girdle Mechanism |
| title_fullStr | A Vector-Based Motion Retargeting Approach for Exoskeletons with Shoulder Girdle Mechanism |
| title_full_unstemmed | A Vector-Based Motion Retargeting Approach for Exoskeletons with Shoulder Girdle Mechanism |
| title_short | A Vector-Based Motion Retargeting Approach for Exoskeletons with Shoulder Girdle Mechanism |
| title_sort | vector based motion retargeting approach for exoskeletons with shoulder girdle mechanism |
| topic | upper limb exoskeletons motion retargeting vector methods multiple motion representation methods |
| url | https://www.mdpi.com/2313-7673/10/5/312 |
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