2017 International Conference on Robotics and Automation Sciences (ICRAS) 2017
DOI: 10.1109/icras.2017.8071929
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Configuration optimization and kinematic analysis of a wearable exoskeleton arm

Abstract: Abstract-In order to evaluate the kinematic performance and determine the proper design parameters, the kinematic characteristics of human upper-limb are modelled and analyzed in this paper. Based on the model, different mechanical configurations of wearable upper-limb exoskeleton robots are proposed and the singularity orientation in the upper limb workspace is analyzed. The optimal configuration of the shoulder mechanism without limiting the spherical-joint motion is determined to avoid the singularity in th… Show more

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