Kinematic analysis of seven-degree-of-freedom exoskeleton rehabilitation manipulator

This article analyzes the forward kinematics and inverse kinematics of the seven-degree-of-freedom exoskeleton rehabilitation manipulator. Denavit–Hartenberg coordinates are used to model the forward kinematics, and the working space of the end effector of the manipulator is analyzed according to th...

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Main Authors: Gang Tang, Jinqin Sheng, Chuan Wu, Dongmei Wang, Shaoyang Men
Format: Article
Language:English
Published: SAGE Publishing 2022-01-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.1177/17298814211067668
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author Gang Tang
Jinqin Sheng
Chuan Wu
Dongmei Wang
Shaoyang Men
author_facet Gang Tang
Jinqin Sheng
Chuan Wu
Dongmei Wang
Shaoyang Men
author_sort Gang Tang
collection DOAJ
description This article analyzes the forward kinematics and inverse kinematics of the seven-degree-of-freedom exoskeleton rehabilitation manipulator. Denavit–Hartenberg coordinates are used to model the forward kinematics, and the working space of the end effector of the manipulator is analyzed according to the joint motion range of the human arm. In the inverse solution of the seven-degree-of-freedom exoskeleton rehabilitation manipulator, the self-motion angle ϕ of the elbow is used. The minimum energy standard is used to calculate the self-motion angle ϕ . The minimum energy mainly includes the gravitational potential energy of the upper limbs and the elastic potential energy stored in the muscles. Thus, the inverse solution formula of the seven-degree-of-freedom exoskeleton rehabilitation manipulator is derived. When calculating the angle θ 4 , an auxiliary parameter is introduced to solve the self-motion manifold of the manipulator. Finally, the theoretical derivation and verification of the forward and inverse kinematics are carried out in this article, and through analysis of the results, it is concluded that the inverse kinematics of this article has some limitations but the theory of inverse kinematics is feasible.
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spelling doaj.art-d15a14983517477fb6f58760304408b72022-12-22T04:15:44ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142022-01-011910.1177/17298814211067668Kinematic analysis of seven-degree-of-freedom exoskeleton rehabilitation manipulatorGang Tang0Jinqin Sheng1Chuan Wu2Dongmei Wang3Shaoyang Men4 Logistics Engineering College, Shanghai Maritime University, Shanghai, China Logistics Engineering College, Shanghai Maritime University, Shanghai, China Logistics Engineering College, Shanghai Maritime University, Shanghai, China School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China School of Medical Information Engineering, Guangzhou University of Chinese Medicine, Guangzhou, ChinaThis article analyzes the forward kinematics and inverse kinematics of the seven-degree-of-freedom exoskeleton rehabilitation manipulator. Denavit–Hartenberg coordinates are used to model the forward kinematics, and the working space of the end effector of the manipulator is analyzed according to the joint motion range of the human arm. In the inverse solution of the seven-degree-of-freedom exoskeleton rehabilitation manipulator, the self-motion angle ϕ of the elbow is used. The minimum energy standard is used to calculate the self-motion angle ϕ . The minimum energy mainly includes the gravitational potential energy of the upper limbs and the elastic potential energy stored in the muscles. Thus, the inverse solution formula of the seven-degree-of-freedom exoskeleton rehabilitation manipulator is derived. When calculating the angle θ 4 , an auxiliary parameter is introduced to solve the self-motion manifold of the manipulator. Finally, the theoretical derivation and verification of the forward and inverse kinematics are carried out in this article, and through analysis of the results, it is concluded that the inverse kinematics of this article has some limitations but the theory of inverse kinematics is feasible.https://doi.org/10.1177/17298814211067668
spellingShingle Gang Tang
Jinqin Sheng
Chuan Wu
Dongmei Wang
Shaoyang Men
Kinematic analysis of seven-degree-of-freedom exoskeleton rehabilitation manipulator
International Journal of Advanced Robotic Systems
title Kinematic analysis of seven-degree-of-freedom exoskeleton rehabilitation manipulator
title_full Kinematic analysis of seven-degree-of-freedom exoskeleton rehabilitation manipulator
title_fullStr Kinematic analysis of seven-degree-of-freedom exoskeleton rehabilitation manipulator
title_full_unstemmed Kinematic analysis of seven-degree-of-freedom exoskeleton rehabilitation manipulator
title_short Kinematic analysis of seven-degree-of-freedom exoskeleton rehabilitation manipulator
title_sort kinematic analysis of seven degree of freedom exoskeleton rehabilitation manipulator
url https://doi.org/10.1177/17298814211067668
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AT dongmeiwang kinematicanalysisofsevendegreeoffreedomexoskeletonrehabilitationmanipulator
AT shaoyangmen kinematicanalysisofsevendegreeoffreedomexoskeletonrehabilitationmanipulator