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Forward kinematic modeling by screw theory of A 3 DOF exoskeleton for human upper limb

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Title: Forward kinematic modeling by screw theory of A 3 DOF exoskeleton for human upper limb

Authors: Hoffman F. Ramirez, Oscar F. Aviles, Mauricio F. Mauledoux

Journal: ARPN Journal of Engineering and Applied Sciences

HEC Recognition History
Category From To
Y 2023-07-01 2024-09-30
Y 2022-07-01 2023-06-30
Y 2021-07-01 2022-06-30
X 2020-07-01 2021-06-30

Publisher: Khyber Medical College, Peshawar

Country: Pakistan

Year: 2017

Volume: 12

Issue: 20

Language: English

Categories
Exoskeletons (3) Robotics (1073) Mechanical Engineering (4477) Biomechanics (1219) Kinematics (21)

Abstract

This article shows the method to calculate the forward kinematics of an exoskeleton for human upper limb, using the screws theory. The mathematical calculations are shown and are compare with the real values. This forward kinematics is used to calculate the orientation and position of the final effectors of the exoskeleton, and send this data to a robotic arm, to replicate the movements of the final effectors of the exoskeleton with the robot. The movements that the robot must do are calculated using inverse kinematics, but it is not included in this document.

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