Towards autonomous ergonomic upper-limb exoskeletons: A computational approach for planning a human-like path

Zarrin, Rana Soltani; Zeiaee, Amin; Langari, Reza; Buchanan, John J.; Robson, Nina

doi:10.1016/j.robot.2021.103843

Cited by 8 publications

(7 citation statements)

References 20 publications

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“…Unlike conventional IK algorithms which involve solving nonlinear equations, this method is simpler and more efficient yet requires more information about joint position. The proposed approach shares similarities with the method outlined in literature [25], but modifies the calculation of z 5 and z 6 , reduces the number of equations to be solved. The proposed approach shares similarities with the method outlined in literature [25], whose exoskeleton has also same GEAA with different design of shoulder.…”

Section: Transformation Of Configuration Between Human Model and Exos...mentioning

confidence: 99%

“…The proposed approach shares similarities with the method outlined in literature [25], but modifies the calculation of z 5 and z 6 , reduces the number of equations to be solved. The proposed approach shares similarities with the method outlined in literature [25], whose exoskeleton has also same GEAA with different design of shoulder. The calculation of z 5 and z 6 is modified, which reduces the number of equations to be solved.…”

Section: Transformation Of Configuration Between Human Model and Exos...mentioning

confidence: 99%

“…Learning from demonstration (LfD) is one of the most intuitive ways to obtain the trajectory of anthropomorphic motions [21]- [23]. Some literature focus on the motion of shoulder girdle, Stefano et al introduced the SHR into IK [24], Rana et al obtained the final configuration that supports SHR using an optimization method and then generated motion using geodesics [25]. These aforementioned methods need IK to get a unique final configuration in advance, which differs from the planning of human motion.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

An Upper Limb Exoskeleton Motion Generation Algorithm Based on Separating Shoulder and Arm Motion

Wang,

Pei,

Guo

et al. 2024

IEEE Trans. Neural Syst. Rehabil. Eng.

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Many rehabilitation exoskeletons have been used in the field of stroke rehabilitation. Generating human-like motion is necessary for exoskeletons to help patients perform activities of daily living (ADL) while maintaining interaction quality and ergonomics. However, most of the current motion generation algorithms utilize inverse kinematics (IK) to solve the final configuration before generation, and do not consider the movement of shoulder girdle. Separately considering the shoulder girdle motion and arm motion, this paper proposes an algorithm integrated IK to generate human-like motion. The arm moves towards the target with a bell-shaped velocity in the absence of the final configuration, and the shoulder girdle maintain natural passive motion. Moreover, the generated motion can be mapped to the configuration space of exoskeletons. Compared with the experimental data collected using a motion capture system, the values of RMSE and HPDI of the generated wrist trajectory in the task space are within 0.2 and 0.17, respectively, while those of RMSE in the joint space are within 15 deg, which demonstrates the human-like nature of the generated motion.

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Section: Transformation Of Configuration Between Human Model and Exos...mentioning

confidence: 99%

Section: Transformation Of Configuration Between Human Model and Exos...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

An Upper Limb Exoskeleton Motion Generation Algorithm Based on Separating Shoulder and Arm Motion

Wang,

Pei,

Guo

et al. 2024

IEEE Trans. Neural Syst. Rehabil. Eng.

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“…New industrial robots can not only work closely with human workers to perform complex manufacturing and assembly tasks, but can also operate independently in harsh environments such as high temperatures and pressures, increasing the efficiency of industrial production and ensuring worker safety ( Zacharias et al, 2011 ). Wearable robots enhance or reconstruct the natural movement of disabled limbs ( Soltani Zarrin et al, 2021 ). These products dramatically improve efficiency and deliver better care and services that not only improve quality of life, but also drive technological advancement and innovation.…”

Section: Introductionmentioning

confidence: 99%

Anthropomorphic motion planning for multi-degree-of-freedom arms

Zheng,

Han,

Liang

2024

Front. Bioeng. Biotechnol.

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With the development of technology, the humanoid robot is no longer a concept, but a practical partner with the potential to assist people in industry, healthcare and other daily scenarios. The basis for the success of humanoid robots is not only their appearance, but more importantly their anthropomorphic behaviors, which is crucial for the human-robot interaction. Conventionally, robots are designed to follow meticulously calculated and planned trajectories, which typically rely on predefined algorithms and models, resulting in the inadaptability to unknown environments. Especially when faced with the increasing demand for personalized and customized services, predefined motion planning cannot be adapted in time to adapt to personal behavior. To solve this problem, anthropomorphic motion planning has become the focus of recent research with advances in biomechanics, neurophysiology, and exercise physiology which deepened the understanding of the body for generating and controlling movement. However, there is still no consensus on the criteria by which anthropomorphic motion is accurately generated and how to generate anthropomorphic motion. Although there are articles that provide an overview of anthropomorphic motion planning such as sampling-based, optimization-based, mimicry-based, and other methods, these methods differ only in the nature of the planning algorithms and have not yet been systematically discussed in terms of the basis for extracting upper limb motion characteristics. To better address the problem of anthropomorphic motion planning, the key milestones and most recent literature have been collated and summarized, and three crucial topics are proposed to achieve anthropomorphic motion, which are motion redundancy, motion variation, and motion coordination. The three characteristics are interrelated and interdependent, posing the challenge for anthropomorphic motion planning system. To provide some insights for the research on anthropomorphic motion planning, and improve the anthropomorphic motion ability, this article proposes a new taxonomy based on physiology, and a more complete system of anthropomorphic motion planning by providing a detailed overview of the existing methods and their contributions.

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“…However, few studies have integrated scapulohumeral rhythm and kinematic approaches. The relative inclination angle and geodesics in Riemannian space were used to plan human-like paths [30].…”

Section: Introductionmentioning

confidence: 99%

A Human-like Inverse Kinematics Algorithm of an Upper Limb Rehabilitation Exoskeleton

Pei,

Wang,

Guo

et al. 2023

Symmetry

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Powered exoskeleton rehabilitation is an effective way to help stroke patients recover their motor abilities. Bionic structures and human-like control strategies can be used to enhance both the safety and efficacy of exoskeletons. However, the motion characteristics of the shoulder complex are not sufficiently considered. In this paper, we designed a 7-degrees-of-freedom (DOF) upper limb rehabilitation exoskeleton, FREE (functional rehabilitation exoskeleton). The mechanical structures of the shoulder and forearm of FREE are in accordance with human anatomy, and can be used to perform a wide range of synergistic motion of multiple joints while keeping a safe distance from the patient’s head. A multiple-input-multiple-output (MIMO) shoulder girdle motion prediction model was developed to satisfy the synergy between humans and exoskeletons. Moreover, a constrained task priority and projected gradient-based inverse kinematics algorithm (CTPPG-IK) was proposed to achieve assistance with scapulohumeral rhythm. A motion capture system was used to collect different activities of daily life (ADL) motion data to validate the proposed algorithm. The experimental results show that the accuracy of the prediction model is higher than that of existing models, and the inverse kinematics algorithm can handle the end-effector task and joint space with a maximum angle error of 3.04×10−3 rad.

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Towards autonomous ergonomic upper-limb exoskeletons: A computational approach for planning a human-like path

Cited by 8 publications

References 20 publications

An Upper Limb Exoskeleton Motion Generation Algorithm Based on Separating Shoulder and Arm Motion

An Upper Limb Exoskeleton Motion Generation Algorithm Based on Separating Shoulder and Arm Motion

Anthropomorphic motion planning for multi-degree-of-freedom arms

A Human-like Inverse Kinematics Algorithm of an Upper Limb Rehabilitation Exoskeleton

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