Kinematics Analysis and Trajectory Planning of Upper Limb Rehabilitation Robot

Wang, Zhiming; Chang, Yu-Hern; Sui, Xueting

doi:10.1109/iciicii.2017.34

Cited by 4 publications

(2 citation statements)

References 4 publications

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“…The optimal trajectory planning of a two-link robot arm can be obtained through the Particle Swarm Optimization method based on the free Cartesian space method, the D star algorithm, and the cubic polynomial equation [11]. The trajectory planning of an upper limb rehabilitation robot can be obtained by MATLAB simulation based on kinematics analysis [12]. Through the simulation of trajectory planning, the angle, angular velocity, and angular acceleration of the six-DoF robot in the process of moving can be analyzed by using forward and reverse kinematics analysis models based on Dennavit-Hartenberg parameters [13].…”

Section: Literature Reviewmentioning

confidence: 99%

Simulating the Efficient Movement of Four Segments Robot Arm by Fractal Model

Darmanto¹

2021

Proceedings of the 2nd International Seminar of Science and Applied Technology (ISSAT 2021)

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An interesting simulation and animation of a robot arm movement by the iterated function system fractal model can be used to plan controlling the trajectory path of the very end of a robot arm to reach the target efficiently. The efficient way can be shown by the minimum number of steps and the minimum amount of energy consumption required by the rotation and spin operations of the degree of freedom mechanism. The minimum amount of energy consumption can be obtained not only by planning to choose the path with the minimum number of steps, but also it depends on the choice of the operation mode, in the rotating or spinning mode or in the combination of the rotating and spinning modes without overhead movements.

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Section: Literature Reviewmentioning

confidence: 99%

Simulating the Efficient Movement of Four Segments Robot Arm by Fractal Model

Darmanto¹

2021

Proceedings of the 2nd International Seminar of Science and Applied Technology (ISSAT 2021)

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“…The result of the numerical calculation can only be used. The independent variable cannot be given at random and the calculated value can be obtained [39]. On the other hand, the closed solution method can be deduced according to the formula, and the dependent variable can be obtained by giving any independent variable.…”

Section: Inverse Kinematicsmentioning

confidence: 99%

Design and Analysis of a Wearable Upper Limb Rehabilitation Robot with Characteristics of Tension Mechanism

Pang

Wang

et al. 2020

Applied Sciences

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Nowadays, patients with mild and moderate upper limb paralysis caused by cerebral apoplexy are uncomfortable with autonomous rehabilitation. In this paper, according to the “rope + toothed belt” generalized rope drive design scheme, we design a utility model for a wearable upper limb rehabilitation robot with a tension mechanism. Owing to study of the human upper extremity anatomy, movement mechanisms, and the ranges of motion, it can determine the range of motion angles of the human arm joints, and design the shoulder joint, elbow joint, and wrist joint separately under the principle of ensuring the minimum driving torque. Then, the kinematics, workspace and dynamics analysis of each structure are performed. Finally, the control system of the rehabilitation robot is designed. The experimental results show that the structure is convenient to wear on the human body, and the robot’s freedom of movement matches well with the freedom of movement of the human body. It can effectively support and traction the front and rear arms of the affected limb, and accurately transmit the applied traction force to the upper limb of the joints. The rationality of the wearable upper limb rehabilitation robot design is verified, which can help patients achieve rehabilitation training and provide an effective rehabilitation equipment for patients with hemiplegia caused by stroke.

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