Kinematics Analysis and Simulation of Rehabilitation Wearable Upper Limb Exoskeleton based on Adams
To assist physically disabled people with impaired upper limb function， a new exoskeleton robot is developed， which named motion assistive robotic-exoskeleton for superior extremity to ease daily upper limb movements and to provide effective rehabilitation therapy to the superior extremity. Firstly，...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2020-11-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.11.015 |
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| author | Jiqun Yu Ning Liu Lü Qiongying |
| author_facet | Jiqun Yu Ning Liu Lü Qiongying |
| author_sort | Jiqun Yu |
| collection | DOAJ |
| description | To assist physically disabled people with impaired upper limb function， a new exoskeleton robot is developed， which named motion assistive robotic-exoskeleton for superior extremity to ease daily upper limb movements and to provide effective rehabilitation therapy to the superior extremity. Firstly， the entire wearable robot is designed and modeled in ergonomics. The D-H coordinates are established by the exoskeleton upper limb kinematics model， and use Lagrange method to analyze its dynamics， and the theoretical driving torque of each joint is solved. The dynamics analysis software Adams is used to simulate the robot. By planning the end and active trajectory and speed settings， the changes of torque， speed and acceleration of each joint are obtained. The correctness of the dynamics model is verified in reverse， and the foundation for further optimization of robot is laid. |
| format | Article |
| id | doaj-art-a811efdd4bbb4234afb8f33f12ab892c |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2020-11-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-a811efdd4bbb4234afb8f33f12ab892c2025-01-10T14:54:53ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-11-0144899329792089Kinematics Analysis and Simulation of Rehabilitation Wearable Upper Limb Exoskeleton based on AdamsJiqun YuNing LiuLü QiongyingTo assist physically disabled people with impaired upper limb function， a new exoskeleton robot is developed， which named motion assistive robotic-exoskeleton for superior extremity to ease daily upper limb movements and to provide effective rehabilitation therapy to the superior extremity. Firstly， the entire wearable robot is designed and modeled in ergonomics. The D-H coordinates are established by the exoskeleton upper limb kinematics model， and use Lagrange method to analyze its dynamics， and the theoretical driving torque of each joint is solved. The dynamics analysis software Adams is used to simulate the robot. By planning the end and active trajectory and speed settings， the changes of torque， speed and acceleration of each joint are obtained. The correctness of the dynamics model is verified in reverse， and the foundation for further optimization of robot is laid.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.11.015Upper limb exoskeletonAdams simulationDynamicsStep function |
| spellingShingle | Jiqun Yu Ning Liu Lü Qiongying Kinematics Analysis and Simulation of Rehabilitation Wearable Upper Limb Exoskeleton based on Adams Jixie chuandong Upper limb exoskeleton Adams simulation Dynamics Step function |
| title | Kinematics Analysis and Simulation of Rehabilitation Wearable Upper Limb Exoskeleton based on Adams |
| title_full | Kinematics Analysis and Simulation of Rehabilitation Wearable Upper Limb Exoskeleton based on Adams |
| title_fullStr | Kinematics Analysis and Simulation of Rehabilitation Wearable Upper Limb Exoskeleton based on Adams |
| title_full_unstemmed | Kinematics Analysis and Simulation of Rehabilitation Wearable Upper Limb Exoskeleton based on Adams |
| title_short | Kinematics Analysis and Simulation of Rehabilitation Wearable Upper Limb Exoskeleton based on Adams |
| title_sort | kinematics analysis and simulation of rehabilitation wearable upper limb exoskeleton based on adams |
| topic | Upper limb exoskeleton Adams simulation Dynamics Step function |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.11.015 |
| work_keys_str_mv | AT jiqunyu kinematicsanalysisandsimulationofrehabilitationwearableupperlimbexoskeletonbasedonadams AT ningliu kinematicsanalysisandsimulationofrehabilitationwearableupperlimbexoskeletonbasedonadams AT luqiongying kinematicsanalysisandsimulationofrehabilitationwearableupperlimbexoskeletonbasedonadams |