Mechanical Design and Kinematic Modeling of a Cable-Driven Arm Exoskeleton Incorporating Inaccurate Human Limb Anthropomorphic Parameters
Compared with conventional exoskeletons with rigid links, cable-driven upper-limb exoskeletons are light weight and have simple structures. However, cable-driven exoskeletons rely heavily on the human skeletal system for support. Kinematic modeling and control thus becomes very challenging due to in...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-10-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/19/20/4461 |
| _version_ | 1798026720705511424 |
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| author | Weihai Chen Zhongyi Li Xiang Cui Jianbin Zhang Shaoping Bai |
| author_facet | Weihai Chen Zhongyi Li Xiang Cui Jianbin Zhang Shaoping Bai |
| author_sort | Weihai Chen |
| collection | DOAJ |
| description | Compared with conventional exoskeletons with rigid links, cable-driven upper-limb exoskeletons are light weight and have simple structures. However, cable-driven exoskeletons rely heavily on the human skeletal system for support. Kinematic modeling and control thus becomes very challenging due to inaccurate anthropomorphic parameters and flexible attachments. In this paper, the mechanical design of a cable-driven arm rehabilitation exoskeleton is proposed to accommodate human limbs of different sizes and shapes. A novel arm cuff able to adapt to the contours of human upper limbs is designed. This has given rise to an exoskeleton which reduces the uncertainties caused by instabilities between the exoskeleton and the human arm. A kinematic model of the exoskeleton is further developed by considering the inaccuracies of human-arm skeleton kinematics and attachment errors of the exoskeleton. A parameter identification method is used to improve the accuracy of the kinematic model. The developed kinematic model is finally tested with a primary experiment with an exoskeleton prototype. |
| first_indexed | 2024-04-11T18:40:49Z |
| format | Article |
| id | doaj.art-8c08b27405994b628ec6eb7b89afd706 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T18:40:49Z |
| publishDate | 2019-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-8c08b27405994b628ec6eb7b89afd7062022-12-22T04:09:00ZengMDPI AGSensors1424-82202019-10-011920446110.3390/s19204461s19204461Mechanical Design and Kinematic Modeling of a Cable-Driven Arm Exoskeleton Incorporating Inaccurate Human Limb Anthropomorphic ParametersWeihai Chen0Zhongyi Li1Xiang Cui2Jianbin Zhang3Shaoping Bai4The School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, ChinaThe School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, ChinaBeijing Machine and Equipment Institute, Beijing 100191, ChinaThe School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, ChinaThe Department of Materials and Production, Aalborg University, 9220 Aalborg, DenmarkCompared with conventional exoskeletons with rigid links, cable-driven upper-limb exoskeletons are light weight and have simple structures. However, cable-driven exoskeletons rely heavily on the human skeletal system for support. Kinematic modeling and control thus becomes very challenging due to inaccurate anthropomorphic parameters and flexible attachments. In this paper, the mechanical design of a cable-driven arm rehabilitation exoskeleton is proposed to accommodate human limbs of different sizes and shapes. A novel arm cuff able to adapt to the contours of human upper limbs is designed. This has given rise to an exoskeleton which reduces the uncertainties caused by instabilities between the exoskeleton and the human arm. A kinematic model of the exoskeleton is further developed by considering the inaccuracies of human-arm skeleton kinematics and attachment errors of the exoskeleton. A parameter identification method is used to improve the accuracy of the kinematic model. The developed kinematic model is finally tested with a primary experiment with an exoskeleton prototype.https://www.mdpi.com/1424-8220/19/20/4461cable-driven exoskeletonrehabilitation robotupper limb |
| spellingShingle | Weihai Chen Zhongyi Li Xiang Cui Jianbin Zhang Shaoping Bai Mechanical Design and Kinematic Modeling of a Cable-Driven Arm Exoskeleton Incorporating Inaccurate Human Limb Anthropomorphic Parameters Sensors cable-driven exoskeleton rehabilitation robot upper limb |
| title | Mechanical Design and Kinematic Modeling of a Cable-Driven Arm Exoskeleton Incorporating Inaccurate Human Limb Anthropomorphic Parameters |
| title_full | Mechanical Design and Kinematic Modeling of a Cable-Driven Arm Exoskeleton Incorporating Inaccurate Human Limb Anthropomorphic Parameters |
| title_fullStr | Mechanical Design and Kinematic Modeling of a Cable-Driven Arm Exoskeleton Incorporating Inaccurate Human Limb Anthropomorphic Parameters |
| title_full_unstemmed | Mechanical Design and Kinematic Modeling of a Cable-Driven Arm Exoskeleton Incorporating Inaccurate Human Limb Anthropomorphic Parameters |
| title_short | Mechanical Design and Kinematic Modeling of a Cable-Driven Arm Exoskeleton Incorporating Inaccurate Human Limb Anthropomorphic Parameters |
| title_sort | mechanical design and kinematic modeling of a cable driven arm exoskeleton incorporating inaccurate human limb anthropomorphic parameters |
| topic | cable-driven exoskeleton rehabilitation robot upper limb |
| url | https://www.mdpi.com/1424-8220/19/20/4461 |
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