Inverse kinematics and dynamics of an overconstrained manipulator for upper extremity rehabilitation
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Date
2017
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Publisher
Springer international Publishing Ag
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Abstract
In this paper, an overconstrained manipulator is selected for the purpose of rehabilitation of the upper extremity. The geometry of the selected manipulator fits the exact motion of the upper extremity and acts as an exoskeleton. Inverse kinematics calculations are shown for describing the motion of actuators for a desired arm motion. Lagrange Formulation is used for the inverse dynamic model of the system. Due to the geometry of the manipulator, kinematic and dynamic calculations are applied to the two spherical subspaces of the manipulator using imaginary joints.
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Keywords
Rehabilitation Robotics, Overconstrained Manipulators, Lagrange Dynamic Analysis, Exoskeleton
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Citation
Özgün, Selvi; Yılmaz, K., "Inverse kinematics and dynamics of an overconstrained manipulator for upper extremity rehabilitation", New Advances In Mechanisms, Mechanical Transmissions And Robotics, Vol:46, pp. 437-443, (2017).
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Q4
Source
Joint International Conference of the 12th International Conference on Mechanisms and Mechanical Transmissions (MTM) / 23rd International Conference on Robotics (Robotics) -- OCT 26-27, 2016 -- Aachen, GERMANY
Volume
46
Issue
Start Page
437
End Page
443