Analytical Inverse Kinematic Resolution of a Redundant Exoskeleton for Upper-Limb Rehabilitation
Analytical Inverse Kinematic Resolution of a Redundant Exoskeleton for Upper-Limb Rehabilitation
复制标题
DOI：
10.1142/s0219843615500425
复制
发表时间：
2016-08
期刊：
影响因子：
--
通讯作者：
Qingcong Wu;Xingsong Wang;Fengpo Du
中科院分区：
文献类型：
--
作者：
Qingcong Wu;Xingsong Wang;Fengpo Du
机器人辅助治疗在帮助残疾患者恢复运动功能方面发挥了重要作用。本文提出了一种用于上肢康复的冗余外骨骼。提出了一种用于获得外骨骼的逆运动学解的分析方法，以提供与患者同步的运动，并确保自然的人机交互。为了在数学上表达冗余问题，引入肘部的旋转角度作为附加参数，以指定具有预定义手腕位置的人手臂祝贺。提出了一种运动学准则，通过模仿人手臂的自然反射反应来确定旋转角度，并通过4种典型的上肢运动任务对该策略的有效性进行了实验评估。在实验过程中，实际的人体手臂的运动数据收集，通过利用关节运动捕捉系统集成惯性传感器，然后，比较所提出的冗余分辨率产生的估计结果。实验结果表明，在没有附加约束的情况下，回转角运动学判据能够较好地描述机器人的自由到达运动。此外，对于估计的旋转角度，实际和计算的关节角度之间的均方根误差通常小于8 °。
Robot-assisted therapy has played a significant role in helping the disabled patients to restore motor functions. In this paper, a redundant exoskeleton is developed for upper-limb rehabilitation. An analytical methodology for obtaining the inverse kinematic solution of the exoskeleton is presented to provide synchronized movement with patients and ensure natural human–robot interaction. To mathematically express the redundancy problem, the swivel angle of elbow is introduced as an additional parameter to specify the human arm congratulation with a predefined wrist location. A kinematic criterion is proposed to determine the swivel angle by imitating the natural reflexive reaction of human arm. The effectiveness of the proposed strategy is experimentally evaluated via four representative types of upper-limb motion tasks. During the experiments, the actual kinematic data of human arm is collected by utilizing an articulated motion capture system integrated with inertial sensors and, after that, compared to the estimation results generated by the proposed redundancy resolution. The experimental results indicate that the kinematic criterion of swivel angle is suitable to describe the free reaching movement without additional constraints. Moreover, with the estimated swivel angles, the root mean square errors between the actual and calculated joint angles are normally less than 8∘.