Paper Info
Title
A Novel Inverse Kinematics Method for Upper-Limb Exoskeleton under Joint Coordination Constraints.
Abstract
In this study, we address the inverse kinematics problem for an upper-limb exoskeleton by presenting a novel method that guarantees the satisfaction of joint-space constraints, and solves closed-chain mechanisms in a serial robot configuration. Starting from the conventional differential kinematics method based on the inversion of the Jacobian matrix, we describe and test two improved algorithms based on the Projected-Gradient method, that take into account joint-space equality constraints. We use the Harmony exoskeleton as a platform to demonstrate the method. Specifically, we address the joint constraints that the robot maintains in order to match anatomical shoulder movement and the closed-chain mechanisms used for the robot’s joint control. Results show good performances of the proposed algorithms, which are confirmed by the ability of the robot to follow the desired task-space trajectory while ensuring the fulfilment of joint-space constraints, with a maximum error of about 0.05 degrees.
Year
DOI
Venue
2020
10.1109/IROS45743.2020.9341686
IROS
DocType
Citations 
PageRank 
Conference
0
0.34
References 
Authors
0
6
Name
Order
Citations
PageRank
Stefano Dalla Gasperina101.69
Keya Ghonasgi202.03
Ana C. de Oliveira301.35
Marta Gandolla4114.79
Alessandra Pedrocchi55121.27
Ashish D. Deshpande64211.33