Kinematics Research and Verification of Exoskeleton Robot for Upper Limb Rehabilitative

Li Jing; Cao Min

doi:10.16578/j.issn.1004.2539.2018.11.017

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Kinematics Research and Verification of Exoskeleton Robot for Upper Limb Rehabilitative

更新时间：2022-10-20

- Kinematics Research and Verification of Exoskeleton Robot for Upper Limb Rehabilitative
- Vol. 42, Issue 11, Pages: 89-95(2018)
- 作者机构：
  
  1. 上海理工大学光电信息与计算机工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2018.11.017
  CLC：
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[1]李靖,曹民.外骨骼上肢康复机器人的运动学研究与验证[J].机械传动,2018,42(11):89-95.

Li Jing, Cao Min. Kinematics Research and Verification of Exoskeleton Robot for Upper Limb Rehabilitative. [J]. 42(11):89-95(2018)
[1]李靖,曹民.外骨骼上肢康复机器人的运动学研究与验证[J].机械传动,2018,42(11):89-95. DOI： 10.16578/j.issn.1004.2539.2018.11.017.

Li Jing, Cao Min. Kinematics Research and Verification of Exoskeleton Robot for Upper Limb Rehabilitative. [J]. 42(11):89-95(2018) DOI： 10.16578/j.issn.1004.2539.2018.11.017.

摘要

为使人机协作更加紧密,确定合理精确的上肢运动模型,根据人体上肢解剖结构,提出一种8关节上肢外骨骼康复机器人的设计。在以往上肢机器人基础上做出改进,根据上肢复杂结构建立精确的等效运动学模型,实现机器人与肩关节内部结构变化的紧密结合,可有效缓解治疗中的不适;进而准确模拟出上肢运动可达的工作空间,并利用简洁的逆运动学算法对各关节变量进行求解;根据人体运动特性,运用倍四元数位姿插值法进行任务空间的轨迹规划,并通过SolidWorks、MATLAB、V-REP软件仿真验证,证明了设计的合理性与算法的可行性。

Abstract

In order to achieve man-machine collaboration more closely and determine a reasonable and accurate model of upper limb movement,according to the anatomical structure of upper limb,a design eightsection upper limb exoskeleton rehabilitation robot is proposed. Based on the usual upper limb robot to make improvements,according to the complex structure of the upper limb to establish accurate equivalent kinematic model to achieve the robot and the internal structure of the shoulder joint alter accordance,and can alleviate the treatment of discomfort effectively. Then the reachable workspace of upper limb motion is simulated accurately.The simple inverse kinematics algorithm is used to solve each variable of joint. According to the characteristics of the human body,the rehabilitation trajectory planning is selected by the method of double-quaternion in task space and verified by SolidWorks,MATLAB and V-REP software. The rationality and feasibility of the design and algorithm is proved.

关键词

外骨骼机构精确模型运动学仿真

Keywords

Exoskeleton mechanismPrecise modelKinematicsSimulation

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