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

doi:10.1109/UEMCON53757.2021.9666604

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/Report › Conference contribution › peer-review

4 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 language	American English
Title of host publication	2021 IEEE 12th Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021
Editors	Rajashree Paul
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	914-923
Number of pages	10
ISBN (Electronic)	9781665406901
DOIs	https://doi.org/10.1109/UEMCON53757.2021.9666604
State	Indexed - 2021
Externally published	Yes
Event	12th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021 - New York, United States Duration: 1 Dec 2021 → 4 Dec 2021

Publication series

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

Conference

Conference	12th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021
Country/Territory	United States
City	New York
Period	1/12/21 → 4/12/21

Bibliographical note

Publisher Copyright:
© 2021 IEEE.

Keywords

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

Access to Document

10.1109/UEMCON53757.2021.9666604

Cite this

Huamanchahua, D., Sierra-Huertas, J., Terrazas-Rodas, D., Janampa-Espinoza, A., Gonzales, J., & Huaman-Vizconde, S. (2021). Kinematic Analysis of an 4 DOF Upper-Limb Exoskeleton. In R. Paul (Ed.), 2021 IEEE 12th Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021 (pp. 914-923). (2021 IEEE 12th Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/UEMCON53757.2021.9666604

Huamanchahua, Deyby ; Sierra-Huertas, Jorge ; Terrazas-Rodas, Dana et al. / Kinematic Analysis of an 4 DOF Upper-Limb Exoskeleton. 2021 IEEE 12th Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021. editor / Rajashree Paul. Institute of Electrical and Electronics Engineers Inc., 2021. pp. 914-923 (2021 IEEE 12th Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021).

@inproceedings{5ca7ced3fbab4dc7a49aade98017817c,

title = "Kinematic Analysis of an 4 DOF Upper-Limb Exoskeleton",

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).",

keywords = "DH parameters, Kinematic simulation analysis, Physical disability, Upper-limb exoskeleton (Exo-First Exoskeleton)",

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

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 12th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021 ; Conference date: 01-12-2021 Through 04-12-2021",

year = "2021",

doi = "10.1109/UEMCON53757.2021.9666604",

language = "American English",

series = "2021 IEEE 12th Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "914--923",

editor = "Rajashree Paul",

booktitle = "2021 IEEE 12th Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021",

address = "United States",

}

Huamanchahua, D, Sierra-Huertas, J, Terrazas-Rodas, D, Janampa-Espinoza, A, Gonzales, J & Huaman-Vizconde, S 2021, Kinematic Analysis of an 4 DOF Upper-Limb Exoskeleton. in R Paul (ed.), 2021 IEEE 12th Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021. 2021 IEEE 12th Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021, Institute of Electrical and Electronics Engineers Inc., pp. 914-923, 12th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021, New York, United States, 1/12/21. https://doi.org/10.1109/UEMCON53757.2021.9666604

Kinematic Analysis of an 4 DOF Upper-Limb Exoskeleton. / Huamanchahua, Deyby; Sierra-Huertas, Jorge; Terrazas-Rodas, Dana et al.
2021 IEEE 12th Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021. ed. / Rajashree Paul. Institute of Electrical and Electronics Engineers Inc., 2021. p. 914-923 (2021 IEEE 12th Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021).

Research output: Chapter in Book/Report › Conference contribution › peer-review

TY - GEN

T1 - Kinematic Analysis of an 4 DOF Upper-Limb Exoskeleton

AU - Huamanchahua, Deyby

AU - Sierra-Huertas, Jorge

AU - Terrazas-Rodas, Dana

AU - Janampa-Espinoza, Alexander

AU - Gonzales, Jorge

AU - Huaman-Vizconde, Sofia

PY - 2021

Y1 - 2021

N2 - 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).

AB - 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).

KW - DH parameters

KW - Kinematic simulation analysis

KW - Physical disability

KW - Upper-limb exoskeleton (Exo-First Exoskeleton)

UR - http://www.scopus.com/inward/record.url?scp=85125206160&partnerID=8YFLogxK

U2 - 10.1109/UEMCON53757.2021.9666604

DO - 10.1109/UEMCON53757.2021.9666604

M3 - Conference contribution

AN - SCOPUS:85125206160

T3 - 2021 IEEE 12th Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021

SP - 914

EP - 923

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

A2 - Paul, Rajashree

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 12th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021

Y2 - 1 December 2021 through 4 December 2021

ER -

Huamanchahua D, Sierra-Huertas J, Terrazas-Rodas D, Janampa-Espinoza A, Gonzales J, Huaman-Vizconde S. Kinematic Analysis of an 4 DOF Upper-Limb Exoskeleton. In Paul R, editor, 2021 IEEE 12th Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 914-923. (2021 IEEE 12th Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021). doi: 10.1109/UEMCON53757.2021.9666604

Kinematic Analysis of an 4 DOF Upper-Limb Exoskeleton

Abstract

Publication series

Conference

Bibliographical note

Keywords

Access to Document

Fingerprint

Cite this