Validation of a Novel Inverse Kinematics for Upper-Limb Rehabilitation Exoskeletons
| Main Authors: | Stefano Dalla Gasperina, Keya Ghonasgi, Ana de Oliveira, Marta Gandolla, Alessandra Pedrocchi, Ashish Deshpande |
|---|---|
| Format: | Proceeding Journal |
| Terbitan: |
, 2020
|
| Subjects: | |
| Online Access: |
https://youtu.be/x-EkavyAp_E |
Daftar Isi:
- In this work, we present and validate a novel inverse kinematics method for rehabilitation upper-limb exoskeletons that require joint coordination constraints. Starting from the conventional differential kinematics algorithm based on the inversion of the Jacobian matrix, we describe and test the improved algorithm based on the Projected-Gradient method, which takes into account inter-joint coordination constraints. The Harmony exoskeleton is used as a platform to demonstrate the method. In detail, we address the joint constraints needed to match anatomical shoulder movement and results show good performances of the proposed algorithm.