Improved Benchmarking Method Using Kinematics Analysis in Design of an Upper Limb Exoskeleton Rehabilitation Device

Upper Limb Exoskeleton ◽

Product Function ◽

Conceptual design plays an important role in product development to meet requirements of the product function, cost and other factors. Existing methods of the product conceptual design rely on experience of designers or benchmarking methods to estimate design parameters, which limits the design automation and optimization. This paper improves the benchmarking methods by integrating the kinematics analysis with quality function deployment in design of an upper limb exoskeleton rehabilitation device. Parameters such as velocity, acceleration and displacement of the product are included for rating benchmarking products to evaluate the rehabilitation device based on customer needs. By integrating the benchmarking method and kinematics analysis, products with the best performance can be determined accurately to help designers to improve the existing product or develop a new product. The proposed method is verified in the design of an upper limb rehabilitation device.

Configuration Design and Simulation of Exoskeleton for Upper Limb Rehabilitation Train

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.701-702.654 ◽

2014 ◽

Vol 701-702 ◽

pp. 654-658 ◽

Cited By ~ 2

Author(s):

Yuan Zhang ◽

Qiang Liu ◽

Ji Liang Jiang ◽

Li Yuan Zhang ◽

Rui Rui Shen

Keyword(s):

Upper Limb ◽

Simulation Analysis ◽

Motion Simulation ◽

Motion Data ◽

Upper Limb Exoskeleton ◽

Movement Data ◽

Kinematics Simulation ◽

Motion Process ◽

A new upper limb exoskeleton mechanical structure for rehabilitation train and electric putters were used to drive the upper limb exoskeleton and kinematics simulation was carried. According to the characteristics of upper limb exoskeleton, program control and master - slave control two different ways were presented. Motion simulation analysis had been done by Pro/E Mechanism, the motion data of electric putter and major joints had been extracted. Based on the analysis of the movement data it can effectively guide the electric putter control and analysis upper limb exoskeleton motion process.

Design of a 5-DOF Rehabilitation Robot Mechanism for Upper Limb and its Kinematics Analysis

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.29-32.293 ◽

2010 ◽

Vol 29-32 ◽

pp. 293-298 ◽

Cited By ~ 1

Author(s):

Zhi Lan ◽

Zhen Liang Li ◽

Ya Li

Keyword(s):

Activities Of Daily Living ◽

Upper Limb ◽

Trajectory Planning ◽

Daily Living ◽

Rehabilitation Robot ◽

Kinematics Analysis ◽

Important Data ◽

Set Up ◽

A novel 5-DOF upper limb rehabilitation robot, which can implement single joint and multi-joint complex motions and provide activities of daily living (ADL) training for hemiplegic patients, was presented. The solutions of the robot’s kinematics equation were set up by the method of D-H according to the 5-DOF rehabilitation robot for upper limb. Based on the software of ADAMS, the mechanism was simulated and analyzed. Thus the movement of robot is determinate in a certain condition of importation. It offered important data for the trajectory planning and the actual intellective control of rehabilitating robot.

Kinematic Design Optimization of an Eight Degree-of-Freedom Upper-Limb Exoskeleton

Robotica ◽

10.1017/s0263574719001085 ◽

2019 ◽

Vol 37 (12) ◽

pp. 2073-2086 ◽

Cited By ~ 3

Author(s):

Amin Zeiaee ◽

Rana Soltani-Zarrin ◽

Reza Langari ◽

Reza Tafreshi

Keyword(s):

Upper Limb ◽

Optimization Problem ◽

Degree Of Freedom ◽

Upper Limb Exoskeleton ◽

Wearable Robots ◽

Design Variables ◽

Final Design ◽

SummaryThis paper studies the problem of optimizing the kinematic structure of an eight degree-of-freedom upper-limb rehabilitation exoskeleton. The objective of optimization is achieving minimum volume and maximum dexterity in the workspace of daily activities specified by a set of upper-arm configurations. To formulate the problem, a new index is proposed for effective characterization of kinematic dexterity for wearable robots. Additionally, a set of constraints are defined to ensure that the optimal design can cover the desired workspace of the exoskeleton, while singular configurations and physical interferences are avoided. The formulated multi-objective optimization problem is solved using an evolutionary algorithm (Non-dominated Sorting Genetic Algorithm II) and the weighted sum approach. Among the resulted optimal points, the point with least sensitivity with respect to the variations of design variables is chosen as the final design.

Kinematics Analysis and Simulation of Upper Limb Rehabilitation Robot

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.701-702.711 ◽

2014 ◽

Vol 701-702 ◽

pp. 711-714

Author(s):

De Dong Tang ◽

Ya Qi Zhang ◽

Yi Liu

Keyword(s):

Upper Limb ◽

Robot Design ◽

Rehabilitation Robot ◽

Kinematics Analysis ◽

Pneumatic Muscle ◽

Working Space ◽

Simulation Results ◽

Limb Rehabilitation ◽

Muscle Simulation

In order to solve the deficiency of existing rehabilitation robot a novel upper limb rehabilitation robot structure is designed. Kinematics model is established by the method of Denavit-Hartenberg. The robot is driven by pneumatic muscle. Simulation on the robot movement is carried out by the simmechanics of matlab. When the joint is driven, the angle、angular velocity and working space of robot are all obtained. Feasibility of the robot design is confirmed by the simulation results.

2017 International Conference on Industrial Informatics - Computing Technology, Intelligent Technology, Industrial Information Integration (ICIICII) ◽

Kinematics Analysis and Trajectory Planning of Upper Limb Rehabilitation Robot

10.1109/iciicii.2017.34 ◽

2017 ◽

Cited By ~ 1

Author(s):

Zhiming Wang ◽

Yanyan Chang ◽

Xueting Sui

Keyword(s):

Upper Limb ◽

Trajectory Planning ◽

Rehabilitation Robot ◽

Kinematics Analysis ◽

Comparative analysis of three categories of four-DOFs exoskeleton mechanism based on relative movement offsets

Industrial Robot the international journal of robotics research and application ◽

10.1108/ir-12-2020-0273 ◽

2021 ◽

Vol ahead-of-print (ahead-of-print) ◽

Author(s):

Qiang Cao ◽

Jianfeng Li ◽

Mingjie Dong

Keyword(s):

Upper Limb ◽

Reference Value ◽

Relative Movement ◽

Content Type ◽

Upper Limb Exoskeleton ◽

Kinematic Characteristics ◽

Position Solution ◽

Limb Rehabilitation ◽

Selection Of

Purpose The purpose of this paper is to evaluate three categories of four-degrees of freedom (4-DOFs) upper limb rehabilitation exoskeleton mechanisms from the perspective of relative movement offsets between the upper limb and the exoskeleton, so as to provide reference for the selection of exoskeleton mechanism configurations. Design/methodology/approach According to the configuration synthesis and optimum principles of 4-DOFs upper limb exoskeleton mechanisms, three categories of exoskeletons compatible with upper limb were proposed. From the perspective of human exoskeleton closed chain, through reasonable decomposition and kinematic characteristics analysis of passive connective joints, the kinematic equations of three categories exoskeletons were established and inverse position solution method were addressed. Subsequently, three indexes, which can represent the relative movement offsets of human–exoskeleton were defined. Findings Based on the presented position solution and evaluation indexes, the joint displacements and relative movement offsets of the three exoskeletons during eating movement were compared, on which the kinematic characteristics were investigated. The results indicated that the second category of exoskeleton was more suitable for upper limb rehabilitation than the other two categories. Originality/value This paper has a certain reference value for the selection of the 4-DOFs upper extremity rehabilitation exoskeleton mechanism configurations. The selected exoskeleton can ensure the safety and comfort of stroke patients with upper limb dyskinesia during rehabilitation training.

The Analysis and Control of Exoskeleton Upper-Limb Rehabilitation Robot

Key Engineering Materials ◽

10.4028/www.scientific.net/kem.572.619 ◽

2013 ◽

Vol 572 ◽

pp. 619-623 ◽

Cited By ~ 1

Author(s):

Lan Wang ◽

Zheng Qian Yin ◽

Yuan Hang Sun

Keyword(s):

Upper Limb ◽

Shoulder Abduction ◽

Rehabilitation Robot ◽

Upper Limb Exoskeleton ◽

Revolute Joints ◽

Shoulder Flexion ◽

Flexion Extension ◽

Active Rehabilitation ◽

Based on the analysis of the methods for upper limb rehabilitation training, an anthropomorphic upper-limb exoskeleton was developed. Anatomical and physiological characteristics and upper limb joint ranges of motion are also considered. The rehabilitation robot is achieved by 4 single-axis revolute joints which are shoulder abduction-adduction (abd-add), shoulder flexion-extension (flx-ext), elbow flx-ext and wrist flx-ext. Kinematics and dynamics analysis of the rehabilitation robot are made. The passive rehabilitation mode and active rehabilitation mode are researched, and the result of experenment is shown that the robot can finish the rehabilitation task well.