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.
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.
the Creative Commons Attribution 4.0 License.
Research article
| 
15 Jun 2021
Research article |
| 15 Jun 2021
| 15 Jun 2021
An innovative equivalent kinematic model of the human upper limb to improve the trajectory planning of exoskeleton rehabilitation robots
Qiaolian Xie
Institute of Rehabilitation Engineering and Technology, School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China
Shanghai Engineering Research Center of Assistive Devices, Shanghai
200093, China
Key Laboratory of Neural-Functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai 200093, China
Institute of Rehabilitation Engineering and Technology, School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China
Shanghai Engineering Research Center of Assistive Devices, Shanghai
200093, China
Key Laboratory of Neural-Functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai 200093, China
Qingxin Zeng
Institute of Rehabilitation Engineering and Technology, School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China
Shanghai Engineering Research Center of Assistive Devices, Shanghai
200093, China
Key Laboratory of Neural-Functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai 200093, China
Hongliu Yu
Institute of Rehabilitation Engineering and Technology, School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China
Shanghai Engineering Research Center of Assistive Devices, Shanghai
200093, China
Key Laboratory of Neural-Functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai 200093, China
Zhijia Shen
Institute of Rehabilitation Engineering and Technology, School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China
Shanghai Engineering Research Center of Assistive Devices, Shanghai
200093, China
Key Laboratory of Neural-Functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai 200093, China
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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.
This paper proposes a new 13 degrees of freedom equivalent kinematic model for the human upper...
