Kinematic Analysis of an 4 DOF Upper-Limb Exoskeleton

Deyby Huamanchahua, Jorge Sierra-Huertas, Dana Terrazas-Rodas, Alexander Janampa-Espinoza, Jorge Gonzales, Sofia Huaman-Vizconde

Research output: Chapter in Book/ReportConference contributionpeer-review

3 Scopus citations

Abstract

Upper extremity exoskeletons offer an alternative way to support or rehabilitate patients with physical injury, stroke and spinal cord injury (SCI). This research article presents the kinematic analysis of Exo-First Exoskeleton, which is an 4 DoF upper limb exoskeleton, with the aim of assisting or rehabilitating the shoulder and elbow of the human body. This device covers the entire upper limb of a person, from the clavicle to before the wrist. It is capable of executing motions such as internal-external rotation, adduction-abduction or flexion-extension of the shoulder; and flexion-extension of the elbow. The Denavit-Hartenberg (D-H) method was used to obtain the mathematical model that describes the forward and inverse kinematics of the exoskeleton. Furthermore, the exoskeleton end effector trajectories were obtained using the MATLAB software. The results showed that the proposed design for patients with physical disabilities provides a safer Range of Motion (ROM).

Original languageAmerican English
Title of host publication2021 IEEE 12th Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021
EditorsRajashree Paul
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages914-923
Number of pages10
ISBN (Electronic)9781665406901
DOIs
StateIndexed - 2021
Externally publishedYes
Event12th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021 - New York, United States
Duration: 1 Dec 20214 Dec 2021

Publication series

Name2021 IEEE 12th Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021

Conference

Conference12th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021
Country/TerritoryUnited States
CityNew York
Period1/12/214/12/21

Bibliographical note

Publisher Copyright:
© 2021 IEEE.

Keywords

  • DH parameters
  • Kinematic simulation analysis
  • Physical disability
  • Upper-limb exoskeleton (Exo-First Exoskeleton)

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