TY - GEN
T1 - Kinematic Analysis of an 4 DOF Upper-Limb Exoskeleton
AU - Huamanchahua, Deyby
AU - Sierra-Huertas, Jorge
AU - Terrazas-Rodas, Dana
AU - Janampa-Espinoza, Alexander
AU - Gonzales, Jorge
AU - Huaman-Vizconde, Sofia
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - 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).
AB - 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).
KW - DH parameters
KW - Kinematic simulation analysis
KW - Physical disability
KW - Upper-limb exoskeleton (Exo-First Exoskeleton)
UR - http://www.scopus.com/inward/record.url?scp=85125206160&partnerID=8YFLogxK
U2 - 10.1109/UEMCON53757.2021.9666604
DO - 10.1109/UEMCON53757.2021.9666604
M3 - Conference contribution
AN - SCOPUS:85125206160
T3 - 2021 IEEE 12th Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021
SP - 914
EP - 923
BT - 2021 IEEE 12th Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021
A2 - Paul, Rajashree
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 12th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021
Y2 - 1 December 2021 through 4 December 2021
ER -