TY - GEN
T1 - Kinematic analysis of a 5 DOF upper-limb exoskeleton with a tilted and vertically translating shoulder joint
AU - Jung, Yeongtae
AU - Bae, Joonbum
PY - 2013
Y1 - 2013
N2 - In this paper, an upper-limb exoskeleton with a tilted and vertically movable shoulder joint is proposed. By analyzing the biomechanics of the shoulder, the motion of the upper limb is approximated by including one degree of freedom (DOF), namely vertical translation of the glenohumeral joint, in addition to the three DOFs that are conventionally employed to analyze the motion of the shoulder. Also, the shoulder joint is tilted to avoid singularity problems in the workspace; by tilting the shoulder joint, the singularity position was placed outside of the normal range of motion. This configuration was analyzed using forward and inverse kinematics methods. Because the shoulder elevation affects all the joint angles, the angles were calculated by applying an inverse kinematics method in an iterative manner. The performance of the proposed upper-limb exoskeleton and analysis methods have been verified by simulations.
AB - In this paper, an upper-limb exoskeleton with a tilted and vertically movable shoulder joint is proposed. By analyzing the biomechanics of the shoulder, the motion of the upper limb is approximated by including one degree of freedom (DOF), namely vertical translation of the glenohumeral joint, in addition to the three DOFs that are conventionally employed to analyze the motion of the shoulder. Also, the shoulder joint is tilted to avoid singularity problems in the workspace; by tilting the shoulder joint, the singularity position was placed outside of the normal range of motion. This configuration was analyzed using forward and inverse kinematics methods. Because the shoulder elevation affects all the joint angles, the angles were calculated by applying an inverse kinematics method in an iterative manner. The performance of the proposed upper-limb exoskeleton and analysis methods have been verified by simulations.
UR - https://www.scopus.com/pages/publications/84883727492
U2 - 10.1109/AIM.2013.6584332
DO - 10.1109/AIM.2013.6584332
M3 - Conference paper
AN - SCOPUS:84883727492
SN - 9781467353199
T3 - 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
SP - 1643
EP - 1648
BT - 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
T2 - 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
Y2 - 9 July 2013 through 12 July 2013
ER -