Kinematics simulation and analysis of upper limb exoskeleton mechanism

Kezhong Chen; Xueyun Jiang; Shuai Su; Dawei Zhu

doi:10.1117/12.3025976

1 April 2024 Kinematics simulation and analysis of upper limb exoskeleton mechanism

Kezhong Chen, Xueyun Jiang, Shuai Su, Dawei Zhu

Proceedings Volume 13081, Third International Conference on Advanced Manufacturing Technology and Electronic Information (AMTEI 2023); 1308111 (2024) https://doi.org/10.1117/12.3025976
Event: 2023 3rd International Conference on Advanced Manufacturing Technology and Electronic Information (AMTEI 2023), 2023, Tianjin, China

Abstract

In this paper, based on D-H method, the kinematics modeling and simulation calculation of an upper limb exoskeleton robot prototype are carried out by using SimMechanics module of MATLAB, and the simulation results of the upper limb exoskeleton motion space of one arm and both arms are analyzed, and the motion characteristics of one arm and both arms of the upper limb exoskeleton are obtained. By comparing the simulated motion characteristics with the actual motion characteristics of human arm, the rationality of the simulation method is proved. The simulation analysis method in this paper can provide reference for the design and kinematics analysis of the same type of robot.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Kezhong Chen, Xueyun Jiang, Shuai Su, and Dawei Zhu "Kinematics simulation and analysis of upper limb exoskeleton mechanism", Proc. SPIE 13081, Third International Conference on Advanced Manufacturing Technology and Electronic Information (AMTEI 2023), 1308111 (1 April 2024); https://doi.org/10.1117/12.3025976

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