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A Human-like Inverse Kinematics Algorithm of an Upper Limb Rehabilitation Exoskeleton by Shuo Pei; Jiajia Wang; Junlong Guo; Hesheng Yin; Yufeng Yao is a Mathematics article available to read on EtoBox.

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Powered exoskeleton rehabilitation is an effective way to help stroke patients recover their motor abilities. Bionic structures and human-like control strategies can be used to enhance both the safety and efficacy of exoskeletons. However, the motion characteristics of the shoulder complex are not sufficiently considered. In this paper, we designed a 7-degrees-of-freedom (DOF) upper limb rehabilitation exoskeleton, FREE (functional rehabilitation exoskeleton). The mechanical structures of the shoulder and forearm of FREE are in accordance with human anatomy, and can be used to perform a wide range of synergistic motion of multiple joints while keeping a safe distance from the patient’s head. A multiple-input-multiple-output (MIMO) shoulder girdle motion prediction model was developed to satisfy the synergy between humans and exoskeletons. Moreover, a constrained task priority and projected gradient-based inverse kinematics algorithm (CTPPG-IK) was proposed to achieve assistance with scapulohumeral rhythm. A motion capture system was used to collect different activities of daily life (ADL) motion data to validate the proposed algorithm. The experimental results show that the accurac

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Author

Shuo Pei; Jiajia Wang; Junlong Guo; Hesheng Yin; Yufeng Yao

Publisher

MDPI AG

Published

2023

Language

EN

Field

Mathematics (Physical Sciences)