Modeling and Kinematics Analysis of a Novel 5-DOF Upper Limb Exoskeleton Rehabilitation Robot

Ningcun Xu, Xiwei Peng, Liang Peng, Zengguang Hou, Meijiang Gui

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

8 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationProceedings of the 39th Chinese Control Conference, CCC 2020
EditorsJun Fu, Jian Sun
PublisherIEEE Computer Society
Pages1052-1057
Number of pages6
ISBN (Electronic)9789881563903
DOIs
Publication statusPublished - Jul 2020
Event39th Chinese Control Conference, CCC 2020 - Shenyang, China
Duration: 27 Jul 202029 Jul 2020

Publication series

NameChinese Control Conference, CCC
Volume2020-July
ISSN (Print)1934-1768
ISSN (Electronic)2161-2927

Conference

Conference39th Chinese Control Conference, CCC 2020
Country/TerritoryChina
CityShenyang
Period27/07/2029/07/20

Keywords

  • exoskeleton
  • forward kinematics
  • inverse kinematics
  • modeling
  • rehabilitation robot

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