Selvi, ÖzgünYılmaz, K.2020-02-182020-02-182017Özgün, 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).9783319454504http://hdl.handle.net/20.500.12416/2478In 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.eninfo:eu-repo/semantics/closedAccessRehabilitation RoboticsOverconstrained ManipulatorsLagrange Dynamic AnalysisExoskeletonBook Part4643744310.1007/978-3-319-45450-4_44