Proposing a Method to Solve Inverse Kinematics and Dynamics of a Human Upper Limb Rehabilitation Robot

Abstract

A rehabilitation robot is a device that has been proving its positive effectiveness in the process of helping patients recover quickly after a stroke. Researching, designing, and manufacturing robot models in general and upper limb rehabilitation robots in particular are very practical. In this study, we proposed to combine the use of an algorithm and a physical modeling method to shorten the calculation process and design an upper limb rehabilitation robot. First, an exoskeleton upper limb rehabilitation robot model (UExosVN) was briefly described. Next, in turn, all the important problems including inverse kinematics, inverse dynamics for this robot model were proposed and solved by using optimization algorithms and physical modeling methods. The model was evaluated in the critical movement of daily operations. The results after the testing process have proven the accuracy and effectiveness of the proposed methods.

Keywords

• Differential evolution (DE)
• inverse kinematics (IK)
• inverse dynamics
• upper limb exoskeleton robot of Vietnam (UExosVN)
• physical modeling