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Terrain Feature Estimation Method for a Lower Limb Exoskeleton Using Kinematic Analysis and Center of Pressure
Open AccessArticle

Mechanical Design and Kinematic Modeling of a Cable-Driven Arm Exoskeleton Incorporating Inaccurate Human Limb Anthropomorphic Parameters

1
The School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
2
Beijing Machine and Equipment Institute, Beijing 100191, China
3
The School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
4
The Department of Materials and Production, Aalborg University, 9220 Aalborg, Denmark
*
Authors to whom correspondence should be addressed.
Sensors 2019, 19(20), 4461; https://doi.org/10.3390/s19204461
Received: 12 August 2019 / Revised: 29 September 2019 / Accepted: 10 October 2019 / Published: 15 October 2019
(This article belongs to the Special Issue Sensors and Wearable Assistive Devices)
Compared with conventional exoskeletons with rigid links, cable-driven upper-limb exoskeletons are light weight and have simple structures. However, cable-driven exoskeletons rely heavily on the human skeletal system for support. Kinematic modeling and control thus becomes very challenging due to inaccurate anthropomorphic parameters and flexible attachments. In this paper, the mechanical design of a cable-driven arm rehabilitation exoskeleton is proposed to accommodate human limbs of different sizes and shapes. A novel arm cuff able to adapt to the contours of human upper limbs is designed. This has given rise to an exoskeleton which reduces the uncertainties caused by instabilities between the exoskeleton and the human arm. A kinematic model of the exoskeleton is further developed by considering the inaccuracies of human-arm skeleton kinematics and attachment errors of the exoskeleton. A parameter identification method is used to improve the accuracy of the kinematic model. The developed kinematic model is finally tested with a primary experiment with an exoskeleton prototype. View Full-Text
Keywords: cable-driven exoskeleton; rehabilitation robot; upper limb cable-driven exoskeleton; rehabilitation robot; upper limb
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Chen, W.; Li, Z.; Cui, X.; Zhang, J.; Bai, S. Mechanical Design and Kinematic Modeling of a Cable-Driven Arm Exoskeleton Incorporating Inaccurate Human Limb Anthropomorphic Parameters. Sensors 2019, 19, 4461.

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