Calculation of Inverse Kinematics Problem of a 5-DOF Rehabilitation Robot for Upper Limb Based on Screw Theory

Abstract

A novel 5-DOF rehabilitation robot for upper limb, which can implement single joint and multi-joint complex motions and provide activities of daily living (ADL) training for hemiplegic patients, was presented. Based on the method of screw theory, the rehabilitation robot’s kinematics model was set up according to the 5-DOF rehabilitation robot for upper limb. For the kinematics model set up by the method of screw theory, the inverse kinematics calculation was realized by using Paden-Kahan sub-problem method and algebraic elimination method, and the result of explicit solution was given. It offered reliance for the actual intellectual control of the position and speed about the rehabilitation robot.

Kinematic of the Position and Orientation Synchronization of the Posture of a n DoF Upper-Limb Exoskeleton with a Virtual Object in an Immersive Virtual Reality Environment

“…One of the secondary objectives, is the use of inverse kinematics, forward kinematics and orientation that allow determining the orientation and translation workspace [52], and the joint angles of the upper-limb exoskeleton and the virtual object. Another secondary objective is the use of Pieper's Technique to obtain the joint angles (γ 1 , γ 2 , γ 3 , γ 4 ) by inverse kinematics [53][54][55] and the use of Euler's Parameters and Euler's Angles to obtain the position (P X , P Y , P Z ) and orientation (α, β, γ) parameters by forward kinematics and orientation [33,[56][57][58]. Finally, the last secondary objective, is to obtain the MSE and SE to check and verify that the mathematical models obtained are correct.…”