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Kinematics, Dynamics and Control of an Upper Limb Rehabilitation Exoskeleton

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Multisensor Fusion and Integration in the Wake of Big Data, Deep Learning and Cyber Physical System (MFI 2017)

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Abstract

Rehabilitation exoskeleton system is mainly developed for patients who suffered from hemiplegia and other sequelae caused by stroke. The system can assist or finally replace doctors to provide continuous and effective rehabilitation treatment. The paper presents an upper-limb rehabilitation exoskeleton system with 7 degrees of freedom using the Bowden cable actuation system. And an introduction about the mechanical structure is given. The kinematics and accessible workspace of exoskeleton is analyzed via Denavit-Hartenburg (D-H) approach and Monte Carlo method. Kane method is used to analyze the dynamic character of the robot. An admittance control algorithm is proposed to provide patient-active rehabilitation training in virtual environment. A preliminary comparison experiment is implemented to verify the effectiveness of the developed system and control strategy.

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Acknowledgement

This work was supported in part by the National Natural Science Foundation of China (Grant No. 51705240), the Natural Science Foundation of Jiangsu Province of China (Grant No. BK20170783), and the State Key Laboratory of Robotics and System (HIT, Grant No. SKLRS-2018-KF-10).

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Authors and Affiliations

  1. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, Jiangsu Province, China

    Qingcong Wu & Ziyan Shao

Authors
  1. Qingcong Wu
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  2. Ziyan Shao
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Corresponding author

Correspondence to Qingcong Wu .

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Editors and Affiliations

  1. Intelligent Systems Research Institute, Sungkyunkwan University, Suwon, Korea (Republic of)

    Sukhan Lee

  2. School of Electrical Engineering, Korea University, Seoul, Korea (Republic of)

    Hanseok Ko

  3. Department of Electrical and Computer Engineering, Seoul National University, Seoul, Korea (Republic of)

    Songhwai Oh

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Wu, Q., Shao, Z. (2018). Kinematics, Dynamics and Control of an Upper Limb Rehabilitation Exoskeleton. In: Lee, S., Ko, H., Oh, S. (eds) Multisensor Fusion and Integration in the Wake of Big Data, Deep Learning and Cyber Physical System. MFI 2017. Lecture Notes in Electrical Engineering, vol 501. Springer, Cham. https://doi.org/10.1007/978-3-319-90509-9_17

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  • DOI: https://doi.org/10.1007/978-3-319-90509-9_17

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-90508-2

  • Online ISBN: 978-3-319-90509-9

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