Calculation of Inverse Kinematics Problem of a 5-DOF Rehabilitation Robot for Upper Limb Based on Screw Theory

2010 ◽  
Vol 26-28 ◽  
pp. 139-144 ◽  
Author(s):  
Zhi Lan ◽  
Zhen Liang Li ◽  
Ya Li
Keyword(s):  
Upper Limb ◽  
Daily Living ◽  
Inverse Kinematics ◽  
Screw Theory ◽  
Rehabilitation Robot ◽  
Kinematics Model ◽  
Inverse Kinematics Problem ◽  
Intellectual Control ◽  
Model Set ◽  
Set Up

A novel 5-DOF rehabilitation robot for upper limb, which can implement single joint and multi-joint complex motions and provide activities of daily living (ADL) training for hemiplegic patients, was presented. Based on the method of screw theory, the rehabilitation robot’s kinematics model was set up according to the 5-DOF rehabilitation robot for upper limb. For the kinematics model set up by the method of screw theory, the inverse kinematics calculation was realized by using Paden-Kahan sub-problem method and algebraic elimination method, and the result of explicit solution was given. It offered reliance for the actual intellectual control of the position and speed about the rehabilitation robot.

Study of Co-Simulation of Rehabilitation Robot for Upper Limb Based on Virtual Prototype

2013 ◽  
Vol 712-715 ◽  
pp. 2272-2276
Author(s):  
Zhi Lan ◽  
Zhen Yan ◽  
Jian Jun Xu
Keyword(s):  
Upper Limb ◽  
Virtual Prototype ◽  
Rehabilitation Robot ◽  
Electrical System ◽  
Kinematic Parameters ◽  
Rehabilitation Robots ◽  
Dynamics And Control ◽  
Intellectual Control ◽  
Set Up ◽  
And Control

A novel rehabilitation robot for upper limb, which can implement single joint and multi-joint complex motions and provide activities of daily living (ADL) training for hemiplegic patients, was presented. Based on the software ADAMS and the software MATLAB/Simulink, the virtual prototype and the platform of co-simulation of mechanical-electrical system were set up. On the platform of co-simulation, the rehabilitation robots kinematics, dynamics and control have been simulated, and each joints kinematic parameters, torque can be obtained, and parameters of controller can be also confirmed. It offered reliance for the actual intellectual control of the rehabilitation robot.

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

2010 ◽  
Vol 29-32 ◽  
pp. 293-298 ◽  
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 ◽  
Upper Limb Rehabilitation ◽  
Set Up ◽  
Limb Rehabilitation

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.

Analysis of the Kinematics of an Eight-Wheeled Mobile Platform

2013 ◽  
Vol 198 ◽  
pp. 67-72
Author(s):  
Marek Stania
Keyword(s):  
Inverse Kinematics ◽  
Object Motion ◽  
Forward Kinematics ◽  
Contact Phenomenon ◽  
Kinematics Model ◽  
Inverse Kinematics Problem ◽  
Transport Vehicle ◽  
Forward And Inverse Kinematics ◽  
Motion Parameters ◽  
Simulation Results

This paper presents the modeling problem connected with the autonomous transport vehicle designed at Hochschule Ravensburg-Weingarten. The forward and inverse kinematics problem of eight-wheeled autonomous transport vehicle have been formulated and solved, additionally examples of simulation results representing the changes of individual motion parameters have been presented. Contact phenomenon between foundation and drive wheel has been taken into account in the kinematics model. Motion trajectory and velocity of the selected point belonging to the platform have been intended while the inverse kinematics problem has been solved. The forward kinematics problem has been worked out in order to verify correctness of the studied kinematics model. The presented simulation results point out compatibility of the worked out kinematics model of investigated object. The worked out models allow carrying out analysis of object motion through simulation investigations on the basis of proposed computational model.

Kinematical Analysis and Simulation of Upper Limb Rehabilitation Robot

2011 ◽  
Vol 474-476 ◽  
pp. 1315-1320
Author(s):  
Xiang Li Cheng ◽  
Yi Qi Zhou ◽  
Cui Peng Zuo ◽  
Xiao Hua Fan
Keyword(s):  
Upper Limb ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Rehabilitation Medicine ◽  
Algebraic Solution ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Kinematical Analysis ◽  
Limb Rehabilitation

To assist stroke patients with rehabilitation training, an upper limb rehabilitation robot with an exoskeleton structure and three degrees of freedom (DOF) was developed in this paper. Under the guidance of the theory of rehabilitation medicine, the mechanical design of the robot was completed. Then, the kinematics equations were established by means of homogeneous transformation, including the forward kinematics and the inverse kinematics. The kinematical analysis was carried out and the algebraic solution of inverse kinematics was derived, which provided a theoretical basis for realizing the intelligent control. To validate the performance, the kinematical simulation was conducted, and the simulation results showed that the design of the exoskeleton robot was feasible.

scholarly journals Using proposed optimization algorithm for solving inverse kinematics of human upper limb applying in rehabilitation robotic

2021 ◽  
Author(s):  
Trung Nguyen ◽  
Tam Bui ◽  
Ha Pham
Keyword(s):  
Upper Limb ◽  
Inverse Kinematics ◽  
Search Space ◽  
Human Motion ◽  
Robot Arm ◽  
Upper Limb Rehabilitation ◽  
Rehabilitation Robots ◽  
Inverse Kinematics Problem ◽  
Limb Rehabilitation ◽  
Human Upper Limb

AbstractThe requirement to solve the problem of Inverse Kinetics (IK) plays a very important role in the robotics field in general, and especially in the field of rehabilitation robots, in particular. If the solutions of this problem are not suitable, it can cause undesirable damage to the patient when exercising. Normally, the problem of Inverse Kinematics in the robotics field, as well as the natural field, especially for redundant driven systems, often requires the application of a lot of techniques. The redundancy in Degree of Freedom (DoF), the nonlinearity of the system leads to solve inverse kinematics problem more challenge. In this study, we proposed to apply the self-adaptive control parameters in Differential Evolution with search space improvement (Pro-ISADE) to solve the problem for the human upper limb, which is a very typical redundancy model in nature. First of all, the angles of the joints were measured by a proposed Exoskeleton type Human Motion Capture System (E-HMCS) when the wearer performs some Activities of Daily Living (ADL) and athletic activities. The values of these measured angles joints then were put into the forward kinematics model to find the end effector trajectories. After having these orbits, they were re-fed into the proposed Pro-ISADE algorithm mentioned above to process the IK problem and obtain the predicted joints angular values. The experimental results showed that the predicted joints’ values closely follow the measured joints’ values. That demonstrates the ability to apply the Pro-ISADE algorithm to solve the problem of Inverse Kinetics of the human upper limb as well as the upper limb rehabilitation robot arm.

From Origami to a New Class of Centralized 3-DOF Parallel Mechanisms

2007 ◽  
Author(s):  
Ernesto Rodriguez Leal ◽  
Jian S. Dai
Keyword(s):  
Closed Form ◽  
Inverse Kinematics ◽  
Jacobian Matrix ◽  
Screw Theory ◽  
Geometric Constraints ◽  
Parallel Mechanisms ◽  
Closed Form Solutions ◽  
New Class ◽  
Workspace Analysis ◽  
Inverse Kinematics Problem

This paper applies the ‘technomimetics’ concept to generate a new class of parallel mechanisms inspired by origami folds. This new class of 3-DOF (Degree of Freedom) parallel mechanisms is constructed with 3-RPRP architecture. When the geometric constraints mentioned in this paper are applied, the mechanisms will be allowed to rotate around the x and y axes and translate vertically along the z axis, while the centre of the platform remains concentric to the centre of its base. This paper investigates both position and geometry of these mechanisms and identifies the closed form solutions for the inverse kinematics problem. The differential kinematical analysis is developed by deriving the Jacobian matrix through screw theory and the singularities are identified with workspace analysis. The paper ends with isotropic configuration analysis and illustrates the characteristics of the new mechanisms.

Mobility Analysis and Inverse Kinematics of a Novel 2R1T Parallel Manipulator

2011 ◽  
Author(s):  
Enrique Cuan-Urquizo ◽  
Ernesto Rodriguez-Leal ◽  
Jian S. Dai
Keyword(s):  
Software Package ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Parallel Robot ◽  
Mobility Analysis ◽  
Closure Equation ◽  
Inverse Kinematics Problem ◽  
Three Degrees Of Freedom

This paper presents a novel parallel robot constructed with a three-limb CUP architecture. The mobility of the mechanism is obtained using screw theory, showing that the platform has three degrees of freedom, namely: (i) translation along the Z axis; and (ii) two rotations. The position analysis investigates the loop-closure equation resulting in a unique solution for the inverse kinematics problem and the identification of parasitic motions of the platform. The paper validates the analytical solution with a numerical example, where the results are compared with motion simulations of the manipulator using a commercially available software package.

scholarly journals Dynamic Modeling and Interactive Performance of PARM: A Parallel Upper-Limb Rehabilitation Robot Using Impedance Control for Patients after Stroke

2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Hui Guang ◽  
Linhong Ji ◽  
Yingying Shi ◽  
Berno J. E. Misgeld
Keyword(s):  
Dynamic Modeling ◽  
Upper Limb ◽  
Daily Living ◽  
Virtual Work ◽  
Mean Absolute Error ◽  
Impedance Control ◽  
Absolute Error ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation

The robot-assisted therapy has been demonstrated to be effective in the improvements of limb function and even activities of daily living for patients after stroke. This paper presents an interactive upper-limb rehabilitation robot with a parallel mechanism and an isometric screen embedded in the platform to display trajectories. In the dynamic modeling for impedance control, the effects of friction and inertia are reduced by introducing the principle of virtual work and derivative of Jacobian matrix. To achieve the assist-as-needed impedance control for arbitrary trajectories, the strategy based on orthogonal deviations is proposed. Simulations and experiments were performed to validate the dynamic modeling and impedance control. Besides, to investigate the influence of the impedance in practice, a subject participated in experiments and performed two types of movements with the robot, that is, rectilinear and circular movements, under four conditions, that is, with/without resistance or impedance, respectively. The results showed that the impedance and resistance affected both mean absolute error and standard deviation of movements and also demonstrated the significant differences between movements with/without impedance and resistance (p<0.001). Furthermore, the error patterns were discussed, which suggested that the impedance environment was capable of alleviating movement deviations by compensating the synergetic inadequacy between the shoulder and elbow joints.

Analysis of Human Hand Kinematics: Reaching Upward Movement

2013 ◽  
Vol 432 ◽  
pp. 386-391
Author(s):  
Hisyam Abdul Rahman ◽  
Goh Chok How ◽  
Yeong Che Fai ◽  
Eileen Su Lee Ming
Keyword(s):  
Activities Of Daily Living ◽  
Upper Limb ◽  
Stroke Patient ◽  
Daily Living ◽  
Human Hand ◽  
Rehabilitation Robot ◽  
Upward Movement ◽  
Reaching Movement ◽  
Result Show ◽  
Upward Direction

Reaching movement is one of the important training for stroke patient to recover the impairment arm as this movement is critical for activities of daily living. A studied conducted to investigate the minimal requirement that a rehabilitation robot should have in order to train reaching movement in upward after the impairment arm start to overcome gravity. Result show some convex, linear and concave trajectory during reaching movement in upward direction depended on the level of the target distance. This study can be applied for designing a new simpler or improvement of the existing rehabilitation robot to train the upper limb for stroke patient.

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