Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 12, issue 1
Articles | Volume 12, issue 1
https://doi.org/10.5194/ms-12-661-2021
© Author(s) 2021. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-12-661-2021
© Author(s) 2021. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 12, issue 1
Research article
 | 
15 Jun 2021
Research article |  | 15 Jun 2021

An innovative equivalent kinematic model of the human upper limb to improve the trajectory planning of exoskeleton rehabilitation robots

Qiaolian Xie, Qiaoling Meng, Qingxin Zeng, Hongliu Yu, and Zhijia Shen

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Latest update: 13 Dec 2024
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Short summary
This paper proposes a new 13 degrees of freedom equivalent kinematic model for the human upper limb and fully considers the movement characteristics of human upper limbs in anatomy. The proposed model can be utilized to analyze the human upper limb workspace and joint motions. Furthermore, the model can effectively evaluate the existing upper limb exoskeleton and provide suggestions for structural improvements in line with human motion.
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