NDLI: Redundancy Resolution of the Human Arm and an Upper Limb Exoskeleton

Content Provider	IEEE Xplore Digital Library
Author	Hyunchul Kim Miller, L.M. Byl, N. Abrams, G. Rosen, J.
Copyright Year	1964
Abstract	The human arm has 7 degrees of freedom (DOF) while only 6 DOF are required to position the wrist and orient the palm. Thus, the inverse kinematics of an human arm has a nonunique solution. Resolving this redundancy becomes critical as the human interacts with a wearable robot and the inverse kinematics solution of these two coupled systems must be identical to guarantee an seamless integration. The redundancy of the arm can be formulated by defining the swivel angle, the rotation angle of the plane defined by the upper and lower arm around a virtual axis that connects the shoulder and wrist joints. Analyzing reaching tasks recorded with a motion capture system indicates that the swivel angle is selected such that when the elbow joint is flexed, the palm points to the head. Based on these experimental results, a new criterion is formed to resolve the human arm redundancy. This criterion was implemented into the control algorithm of an upper limb 7-DOF wearable robot. Experimental results indicate that by using the proposed redundancy resolution criterion, the error between the predicted and the actual swivel angle adopted by the motor control system is less then 5^°.
Sponsorship	IEEE Engineering in Medicine and Biology Society
Page Count	10
File Size	1499054
Starting Page	1770
Ending Page	1779
File Format	PDF
ISSN	00189294
Volume Number	59
Issue Number	6
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-06-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Humans Wrist Redundancy Elbow Kinematics Ellipsoids swivel angle Exoskeleton inverse kinematic redundancy
Content Type	Text
Resource Type	Article
Subject	Biomedical Engineering

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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