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Kinematic analysis of 7 degrees of freedom upper-limb exoskeleton robot with tilted shoulder abduction

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Abstract

An exoskeleton robot is a hybrid between human and robot where the two are mechanically integrated to function as one intelligent as well as powerful robot. This study presents a kinematic analysis of 7degrees of freedom (DOF) exoskeleton robot with its base rotational axis skewed to avoid singularity within workspace and to maximize ease of movement in all directions. The tilt of the base rotational axis configures the exoskeleton robot into an initial posture to which it is difficult to identify a geometric transformation from a kinematical model with all joint angels set to zero. When the limbs of the exoskeleton robot are configured either vertical or parallel to the ground, the resulting configuration can be initialized and then, ensuing kinematic analysis can be more conveniently performed from this nominal configuration. An analytical relationship defining a geometric transformation from the skewed configuration to the user-defined nominal configuration is developed and an explicit closed-form inverse kinematic solution for the 7 DOF exoskeleton robot is also presented.

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Authors and Affiliations

  1. Department of Mechanical Systems Engineering, Hansung University, 389, Samsun-dong, Sungbuk-gu, Seoul, South Korea, 136-792

    Byoung Gook Loh

  2. Department of Computer Engineering, University of California at Santa Cruz, Santa Cruz, CA, 95064, USA

    Jacob Rosen

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  1. Byoung Gook Loh
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  2. Jacob Rosen
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Correspondence to Byoung Gook Loh.

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Loh, B.G., Rosen, J. Kinematic analysis of 7 degrees of freedom upper-limb exoskeleton robot with tilted shoulder abduction. Int. J. Precis. Eng. Manuf. 14, 69–76 (2013). https://doi.org/10.1007/s12541-013-0011-4

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  • DOI: https://doi.org/10.1007/s12541-013-0011-4

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