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Configuration optimization and kinematic analysis of a wearable exoskeleton arm
Xiao, Yongfei; Zhu, Yunhai; Wang, Xuelin; Zhao, Yongguo; Ding QC(丁其川)
Department机器人学研究室
Conference Name2017 International Conference on Robotics and Automation Sciences, ICRAS 2017
Conference DateAugust 26-29, 2017
Conference PlaceHong Kong, Hong kong
Source Publication2017 International Conference on Robotics and Automation Sciences, ICRAS 2017
PublisherIEEE
Publication PlaceNew York
2017
Pages124-128
Indexed ByEI ; CPCI(ISTP)
EI Accession number20180104609249
WOS IDWOS:000427143700025
Contribution Rank2
ISBN978-1-5386-3994-8
KeywordS-wearable Exoskeleton Robots Design Parameters Optimal Configuration Singularity Workspace
AbstractIn 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, 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.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/21478
Collection机器人学研究室
Corresponding AuthorZhu, Yunhai
Affiliation1.Shandong Provincial Key Laboratory of Robot and Manufacturing Automation, Institute of Automation, Shandong Academy of Science, Jinan, Shandong, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning, China
Recommended Citation
GB/T 7714
Xiao, Yongfei,Zhu, Yunhai,Wang, Xuelin,et al. Configuration optimization and kinematic analysis of a wearable exoskeleton arm[C]. New York:IEEE,2017:124-128.
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