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Configuration optimization and kinematic analysis of a wearable exoskeleton arm
- Source :
- 2017 International Conference on Robotics and Automation Sciences (ICRAS).
- Publication Year :
- 2017
- Publisher :
- IEEE, 2017.
-
Abstract
- In order to evaluate the kinematic performance and determine the proper design parameters, the kinematic characteristics of human upper-limb are modelled and analyzed in this paper. Based on the model, two different mechanical configurations of wearable upper-limb exoskeleton robots are proposed and the singularity orientation in the upper limb workspace is analyzed. The optimal configuration of the shoulder mechanism without limiting the spherical-joint motion is determined to avoid the singularity in the control procedure. According to the configuration, the workspaces of the upper limb and the exoskeleton robots are simulated by the Matlab software. And the results prove that the optimized configuration works well in the most frequently used workspace of human upper-limb. The optimizing method of singularity elimination is helpful for the configuration design and active control of upper limb exoskeleton system.
- Subjects :
- 0209 industrial biotechnology
Engineering
business.industry
ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION
Wearable computer
02 engineering and technology
Workspace
Kinematics
021001 nanoscience & nanotechnology
Exoskeleton
Computer Science::Robotics
Mechanism (engineering)
020901 industrial engineering & automation
Singularity
Control theory
Astrophysics::Solar and Stellar Astrophysics
Robot
0210 nano-technology
business
Configuration design
Simulation
ComputingMethodologies_COMPUTERGRAPHICS
Subjects
Details
- Database :
- OpenAIRE
- Journal :
- 2017 International Conference on Robotics and Automation Sciences (ICRAS)
- Accession number :
- edsair.doi...........68ff76ce1a19eb9f3433ee979dce1efc