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Kinematic dexterity analysis of human-robot interaction of an upper limb rehabilitation robot
- Source :
- Leigang Zhang
- Publication Year :
- 2021
- Publisher :
- IOS Press, 2021.
-
Abstract
- BACKGROUND: The definition of rehabilitation training trajectory is of great significance during rehabilitation training, and the dexterity of human-robot interaction motion provides a basis for selecting the trajectory of interaction motion. OBJECTIVE: Aimed at the kinematic dexterity of human-robot interaction, a velocity manipulability ellipsoid intersection volume (VMEIV) index is proposed for analysis, and the dexterity distribution cloud map is obtained with the human-robot cooperation space. METHOD: Firstly, the motion constraint equation of human-robot interaction is established, and the Jacobian matrix is obtained based on the speed of connecting rod. Then, the Monte Carlo method and the cell body segmentation method are used to obtain the collaborative space of human-robot interaction, and the VMEIV of human-robot interaction is solved in the cooperation space. Finally, taking the upper limb rehabilitation robot as the research object, the dexterity analysis of human-robot interaction is carried out by using the index of the approximate volume of the VMEIV. RESULTS: The results of the simulation and experiment have a certain consistency, which indicates that the VMEIV index is effective as an index of human-robot interaction kinematic dexterity. CONCLUSIONS: The VMEIV index can measure the kinematic dexterity of human-robot interaction, and provide a reference for the training trajectory selection of rehabilitation robot.
- Subjects :
- 0209 industrial biotechnology
Computer science
030231 tropical medicine
Biomedical Engineering
Biophysics
Health Informatics
Bioengineering
02 engineering and technology
Kinematics
Human–robot interaction
Motion (physics)
Upper Extremity
Biomaterials
Motion
03 medical and health sciences
Constraint algorithm
symbols.namesake
020901 industrial engineering & automation
0302 clinical medicine
Humans
Computer vision
business.industry
Stroke Rehabilitation
Robotics
Ellipsoid
Biomechanical Phenomena
Jacobian matrix and determinant
Trajectory
symbols
Robot
Artificial intelligence
business
Information Systems
Subjects
Details
- ISSN :
- 18787401 and 09287329
- Volume :
- 29
- Database :
- OpenAIRE
- Journal :
- Technology and Health Care
- Accession number :
- edsair.doi.dedup.....fc4a7544815c2ecf9f721e5c414f4bac
- Full Text :
- https://doi.org/10.3233/thc-202633