Abstract
This paper concerns the kinematics and dynamics of an arm exoskeleton used for human rehabilitation. The biomechanics of the upper arm was studied, and the nine degrees of freedom model of upper arm was obtained using Denavit–Hartenberg notation. The mass and inertial parameters were obtained from recent literature, and these parameters were used for modelling human arm in SolidWorks and MATLAB-Simulink packages. The inverse kinematics of the arm exoskeleton was solved in the previous paper Winter (Biomechanics and motor control of human movement. Wiley, New York, 2009, and this model was implemented in this study. The arm angular velocity profile was selected within the time and speed restriction. By comparing three variants of motion with visualization, we indicated the change of joints angles. Then, the torques in each arm joints with and without exoskeleton were calculated. The obtained results demonstrate the efficiency of the proposed approach that can be utilized to analyse the kinematics and dynamics of exoskeletons for the purpose of selection of their actuators.
Article PDF
Similar content being viewed by others
Avoid common mistakes on your manuscript.
References
Winter D.A.: Biomechanics and Motor Control of Human Movement. Wiley, New York (2009)
Harwing W.S., Rahman T., Foulds R.A.: A review of design issues in rehabilitation robotics with reference to North America research. IEEE Trans. Rehabil. Eng. 3(1), 3–13 (1995)
Rocon E., Pons J.L.: Exoskeletons in Rehabilitation Robotics, Tremor Suppression. Springer, Berlin (2011)
Swift, T.A.: Control and Trajectory Generation of a Wearable Mobility Exoskeleton for Spinal Cord Injury Patients, PhD Dissertation. University of California, Berkeley (2011)
Nef T., Mihelj M., Riener R.: ARMin: a robot ror patient-cooperative arm therapy. Med. Biol. Eng. Comput. 45(9), 897–900 (2007)
Perry J.C., Rosen J., Burns S.: Upper-limb powered exoskeleton design. IEEE/ASME Trans. Mechatron. 12(4), 408–417 (2007)
Krebs H., Volpe B., Williams D., Celestino J., Charles S., Lynch D., Hogan N.: Robot-aided neurorehabilitation: a robot for wrist rehabilitation. IEEE Trans. Neural Syst. Rehabil. Eng. 15(3), 327–335 (2007)
Dietz V., Nef T., Rymer W.Z.: Neurorehabilitation Technology. Springer, London (2011)
Cyberdyne, HAL, (retrieved October 10, 2013), from http://www.cyberdyne.jp/english/robotsuithal/index.html (2013)
Zoss, A., Kazerooni, H., Chu, A.: On the mechanical design of the Berkeley lower extremity exoskeleton (BLEEX). In: IEEERSJ International Conference on Intelligent Robots and Systems, pp. 3132–3139 (2005)
Hocoma, Lokomat Enhanced Functional Locomotion Therapy, (retrieved October 12, 2013), from http://www.hocoma.com/en/products/lokomat/ (2013)
Elson R.A., Aspinall G.R.: Measurement of hip range of flexion–extension and straight-leg raising. Clin. Orthop. Relat. Res. 466(2), 281–286 (2008)
Platz T.: Evidence-based arm rehabilitation a systematic review of the literature. Nervenartz 74(10), 841–849 (2003)
Loureiro Rui C.V., Harwin W.S., Nagai K., Johnson M.: Advances in upper limb stroke rehabilitation: a technology push. Med. Biol. Eng. Comput. 49, 1103–1118 (2011)
Lemay M., Crago P.: A dynamic model for simulating movements of the elbow, forearm, and the wrist. J. Biomech. 21(10), 1319–1330 (1996)
Swartz N.M.: Arm Dynamics Simulation. Carnegie Mellon University, Robotics Institute, Pittsburgh (1982)
Pennestri E., Stefanelli R., Valentini P.P., Vita L.: Virtual musculo-skeletal model for the biomechanical analysis for the upper limb. J. Biomech. 40, 1350–1361 (2007)
Pons Jose, L.: Wearable Robots Biomechatronic Exoskeleton. Wiley, Madrid (2008)
Crowell, H.P., III: Human Engineering Design Guidelines for a Powered, Full Body Exoskeleton, U.S. Army Research Laboratory (1995)
Hartenberg R.S., Denavit J.: A kinematic notation for lower pair mechanisms based on matrices. J. Appl. Mech. 77, 215–221 (1955)
Wittenburg J.: Dynamics of Multibody Systems. Springer, Berlin (1977)
Jazar R.N.: Theory of Applied Robotics, Kinematics, Dynamics, and Control. Springer, Berlin (2007)
Kutz M.: Standard Handbook of Biomedical Engineering and Design. McGraw-Hill, New York (2003)
High Precision Drivers and Systems Catalogue, http://www.maxonmotor.com (retrieved October 10, 2013), Program 2013/2014
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Open Access This article is distributed under the terms of the Creative Commons Attribution License which permits any use, distribution, and reproduction in any medium, provided the original author(s) and the source are credited.
About this article
Cite this article
Głowiński, S., Krzyżyński, T., Pecolt, S. et al. Design of motion trajectory of an arm exoskeleton. Arch Appl Mech 85, 75–87 (2015). https://doi.org/10.1007/s00419-014-0900-8
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s00419-014-0900-8