Knowledge Commons of Institute of Automation,CAS
Kinematic Redundancy Analysis during Goal-Directed Motion for Trajectory Planning of an Upper-Limb Exoskeleton Robot | |
Chen Wang1,2![]() ![]() ![]() ![]() ![]() ![]() | |
2019 | |
会议名称 | IEEE International Conference on Engineering in Medicine and Biology Society |
会议日期 | 2019-7-24 |
会议地点 | Berlin |
摘要 | The kinematic redundancy of human arm imposes challenges on joint space trajectory planning for upper-limb rehabilitation robot. This paper aims to investigate normal motion patterns in reaching and reach-to-grasp movements, and obtain the unique solution in joint space for a fiveDOF exoskeleton. Firstly, a six-camera optical motion tracking system was used to capture participants’ arm motion during goal-directed reaching or reach-to-grasp movements. Secondly, statistical analysis was executed to explore the characteristics of swivel angle, which revealed that the swivel angle can be approximated to the mean value (155◦ ± 5◦) in resolving the arm redundancy problem. Thirdly, combined with the minimum-jerk trajectory of end-effector, the generated joint trajectory complied well with the joint trajectory captured in healthy humans. Consequently, the obtained results facilitate a new way for three-dimensional trajectory planning of the exoskeleton robot. Further, adaptive assist-as-needed control of the exoskeleton robot can be implemented based on the optimal reference trajectory, with aims to provide assistance according to the patient’s performance, and in turn promote neural plasticity. |
收录类别 | EI |
语种 | 英语 |
七大方向——子方向分类 | 智能机器人 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/44880 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Zeng-Guang Hou |
作者单位 | 1.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences 2.University of Chinese Academy of Sciences 3.CAS Center for Excellence in Brain Science and Intelligence Technology 4.China Rehabilitation Research Center, Beijing Bo’ai Hospital |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Chen Wang,Liang Peng,Zeng-Guang Hou,et al. Kinematic Redundancy Analysis during Goal-Directed Motion for Trajectory Planning of an Upper-Limb Exoskeleton Robot[C],2019. |
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EMBC2019.pdf(2697KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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