Kinematic Analysis of an 4 DOF Upper-Limb Exoskeleton

Deyby Huamanchahua, Jorge Sierra-Huertas, Dana Terrazas-Rodas, Alexander Janampa-Espinoza, Jorge Gonzales, Sofia Huaman-Vizconde

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4 Citas (Scopus)

Resumen

Upper extremity exoskeletons offer an alternative way to support or rehabilitate patients with physical injury, stroke and spinal cord injury (SCI). This research article presents the kinematic analysis of Exo-First Exoskeleton, which is an 4 DoF upper limb exoskeleton, with the aim of assisting or rehabilitating the shoulder and elbow of the human body. This device covers the entire upper limb of a person, from the clavicle to before the wrist. It is capable of executing motions such as internal-external rotation, adduction-abduction or flexion-extension of the shoulder; and flexion-extension of the elbow. The Denavit-Hartenberg (D-H) method was used to obtain the mathematical model that describes the forward and inverse kinematics of the exoskeleton. Furthermore, the exoskeleton end effector trajectories were obtained using the MATLAB software. The results showed that the proposed design for patients with physical disabilities provides a safer Range of Motion (ROM).

Idioma originalInglés
Título de la publicación alojada2021 IEEE 12th Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021
EditoresRajashree Paul
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas914-923
Número de páginas10
ISBN (versión digital)9781665406901
DOI
EstadoPublicada - 2021
Evento12th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021 - New York, Estados Unidos
Duración: 1 dic. 20214 dic. 2021

Serie de la publicación

Nombre2021 IEEE 12th Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021

Conferencia

Conferencia12th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021
País/TerritorioEstados Unidos
CiudadNew York
Período1/12/214/12/21

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