An innovative equivalent kinematic model of the human upper limb to improve the trajectory planning of exoskeleton rehabilitation robots
<p>Upper limb exoskeleton rehabilitation robots have been attracting significant attention by researchers due to their adaptive training, highly repetitive motion, and ability to enhance the self-care capabilities of patients with disabilities. It is a key problem that the existing upper limb...
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| Format: | Article |
| Language: | English |
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Copernicus Publications
2021-06-01
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| Series: | Mechanical Sciences |
| Online Access: | https://ms.copernicus.org/articles/12/661/2021/ms-12-661-2021.pdf |
| _version_ | 1818872348019785728 |
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| author | Q. Xie Q. Xie Q. Xie Q. Meng Q. Meng Q. Meng Q. Zeng Q. Zeng Q. Zeng H. Yu H. Yu H. Yu Z. Shen Z. Shen Z. Shen |
| author_facet | Q. Xie Q. Xie Q. Xie Q. Meng Q. Meng Q. Meng Q. Zeng Q. Zeng Q. Zeng H. Yu H. Yu H. Yu Z. Shen Z. Shen Z. Shen |
| author_sort | Q. Xie |
| collection | DOAJ |
| description | <p>Upper limb exoskeleton rehabilitation robots have been
attracting significant attention by researchers due to their adaptive training, highly repetitive motion, and ability to enhance the self-care capabilities of patients with disabilities. It is a key problem that the existing upper limb
exoskeletons cannot stay in line with the corresponding human arm during
exercise. The aim is to evaluate whether the existing upper limb exoskeleton movement is in line with the human movement and to provide a design basis for the future exoskeleton. This paper proposes a new equivalent kinematic model for human upper limb, including the shoulder joint, elbow joint, and wrist joint, according to the human anatomical structure and sports biomechanical characteristics. And this paper analyzes the motion space according to the normal range of motion of joints for building the workspace of the proposed model. Then, the trajectory planning for an upper limb exoskeleton is evaluated and improved based on the proposed model. The evaluation results show that there were obvious differences between the exoskeleton prototype and human arm. The deviation between the human body and the exoskeleton of the improved trajectory is decreased to 41.64 %. In conclusion, the new equivalent kinematics model for the human upper limb proposed in this paper can effectively evaluate the existing upper limb exoskeleton and provide suggestions for structural improvements in line with human motion.</p> |
| first_indexed | 2024-12-19T12:37:23Z |
| format | Article |
| id | doaj.art-9d6b44494bb94b8289b7e0cd68328d9f |
| institution | Directory Open Access Journal |
| issn | 2191-9151 2191-916X |
| language | English |
| last_indexed | 2024-12-19T12:37:23Z |
| publishDate | 2021-06-01 |
| publisher | Copernicus Publications |
| record_format | Article |
| series | Mechanical Sciences |
| spelling | doaj.art-9d6b44494bb94b8289b7e0cd68328d9f2022-12-21T20:21:06ZengCopernicus PublicationsMechanical Sciences2191-91512191-916X2021-06-011266167510.5194/ms-12-661-2021An innovative equivalent kinematic model of the human upper limb to improve the trajectory planning of exoskeleton rehabilitation robotsQ. Xie0Q. Xie1Q. Xie2Q. Meng3Q. Meng4Q. Meng5Q. Zeng6Q. Zeng7Q. Zeng8H. Yu9H. Yu10H. Yu11Z. Shen12Z. Shen13Z. Shen14Institute of Rehabilitation Engineering and Technology, School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, ChinaShanghai Engineering Research Center of Assistive Devices, Shanghai 200093, ChinaKey Laboratory of Neural-Functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai 200093, ChinaInstitute of Rehabilitation Engineering and Technology, School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, ChinaShanghai Engineering Research Center of Assistive Devices, Shanghai 200093, ChinaKey Laboratory of Neural-Functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai 200093, ChinaInstitute of Rehabilitation Engineering and Technology, School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, ChinaShanghai Engineering Research Center of Assistive Devices, Shanghai 200093, ChinaKey Laboratory of Neural-Functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai 200093, ChinaInstitute of Rehabilitation Engineering and Technology, School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, ChinaShanghai Engineering Research Center of Assistive Devices, Shanghai 200093, ChinaKey Laboratory of Neural-Functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai 200093, ChinaInstitute of Rehabilitation Engineering and Technology, School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, ChinaShanghai Engineering Research Center of Assistive Devices, Shanghai 200093, ChinaKey Laboratory of Neural-Functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai 200093, China<p>Upper limb exoskeleton rehabilitation robots have been attracting significant attention by researchers due to their adaptive training, highly repetitive motion, and ability to enhance the self-care capabilities of patients with disabilities. It is a key problem that the existing upper limb exoskeletons cannot stay in line with the corresponding human arm during exercise. The aim is to evaluate whether the existing upper limb exoskeleton movement is in line with the human movement and to provide a design basis for the future exoskeleton. This paper proposes a new equivalent kinematic model for human upper limb, including the shoulder joint, elbow joint, and wrist joint, according to the human anatomical structure and sports biomechanical characteristics. And this paper analyzes the motion space according to the normal range of motion of joints for building the workspace of the proposed model. Then, the trajectory planning for an upper limb exoskeleton is evaluated and improved based on the proposed model. The evaluation results show that there were obvious differences between the exoskeleton prototype and human arm. The deviation between the human body and the exoskeleton of the improved trajectory is decreased to 41.64 %. In conclusion, the new equivalent kinematics model for the human upper limb proposed in this paper can effectively evaluate the existing upper limb exoskeleton and provide suggestions for structural improvements in line with human motion.</p>https://ms.copernicus.org/articles/12/661/2021/ms-12-661-2021.pdf |
| spellingShingle | Q. Xie Q. Xie Q. Xie Q. Meng Q. Meng Q. Meng Q. Zeng Q. Zeng Q. Zeng H. Yu H. Yu H. Yu Z. Shen Z. Shen Z. Shen An innovative equivalent kinematic model of the human upper limb to improve the trajectory planning of exoskeleton rehabilitation robots Mechanical Sciences |
| title | An innovative equivalent kinematic model of the human upper limb to improve the trajectory planning of exoskeleton rehabilitation robots |
| title_full | An innovative equivalent kinematic model of the human upper limb to improve the trajectory planning of exoskeleton rehabilitation robots |
| title_fullStr | An innovative equivalent kinematic model of the human upper limb to improve the trajectory planning of exoskeleton rehabilitation robots |
| title_full_unstemmed | An innovative equivalent kinematic model of the human upper limb to improve the trajectory planning of exoskeleton rehabilitation robots |
| title_short | An innovative equivalent kinematic model of the human upper limb to improve the trajectory planning of exoskeleton rehabilitation robots |
| title_sort | innovative equivalent kinematic model of the human upper limb to improve the trajectory planning of exoskeleton rehabilitation robots |
| url | https://ms.copernicus.org/articles/12/661/2021/ms-12-661-2021.pdf |
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