@inproceedings{1ae388a8db0e4631aa78676c254b6532,
title = "Modeling and Kinematics Analysis of a Novel 5-DOF Upper Limb Exoskeleton Rehabilitation Robot",
abstract = "It has become increasingly popular that robot is applied to assist patients with central nervous system injury in rehabilitation exercise. This paper introduces a novel 5-DOF upper limb exoskeleton rehabilitation robot. In MATLAB, the forward kinematics expression of the robot is established by using the D-H method and the workspace of the robot is analyzed by Monte Carlo method. Considering the physiological characteristics of the human body and the practical requirement of rehabilitation movement, this paper uses the Swivel Angle to solve the redundancy solution problem of inverse kinematics of the robot on line. In order to verify the correctness of the kinematics model of the robot, a simulation experiment based on the minimum jerk trajectory planning is designed. This work lays the foundation for the future studies on dynamics, control and human-computer interaction strategy of the robot.",
keywords = "exoskeleton, forward kinematics, inverse kinematics, modeling, rehabilitation robot",
author = "Ningcun Xu and Xiwei Peng and Liang Peng and Zengguang Hou and Meijiang Gui",
note = "Publisher Copyright: {\textcopyright} 2020 Technical Committee on Control Theory, Chinese Association of Automation.; 39th Chinese Control Conference, CCC 2020 ; Conference date: 27-07-2020 Through 29-07-2020",
year = "2020",
month = jul,
doi = "10.23919/CCC50068.2020.9188812",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "1052--1057",
editor = "Jun Fu and Jian Sun",
booktitle = "Proceedings of the 39th Chinese Control Conference, CCC 2020",
address = "United States",
}