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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)
作者部门机器人学研究室
会议名称2017 International Conference on Robotics and Automation Sciences, ICRAS 2017
会议日期August 26-29, 2017
会议地点Hong Kong, Hong kong
会议录名称2017 International Conference on Robotics and Automation Sciences, ICRAS 2017
出版者IEEE
出版地New York
2017
页码124-128
收录类别EI ; CPCI(ISTP)
EI收录号20180104609249
WOS记录号WOS:000427143700025
产权排序2
ISBN号978-1-5386-3994-8
关键词S-wearable Exoskeleton Robots Design Parameters Optimal Configuration Singularity Workspace
摘要In 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.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/21478
专题机器人学研究室
通讯作者Zhu, Yunhai
作者单位1.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
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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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