Mao Ying, Jin Xin, Agrawal Sunil K
GE Global Research , 1 Research Circle , Niskayuna, NY 12309 e-mail:
Department of Mechanical Engineering, Columbia University , New York, NY 10027 e-mail:
J Mech Robot. 2014 Feb;6(1):0145021-145025. doi: 10.1115/1.4025926. Epub 2013 Dec 27.
In the past few years, the authors have proposed several prototypes of a able-driven upper m oskeleton () for arm rehabilitation. One of the assumptions of CAREX was that the glenohumeral joint rotation center (GH-c) remains stationary in the inertial frame during motion, which leads to inaccuracy in the kinematic model and may hamper training performance. In this paper, we propose a novel approach to estimate GH-c using measurements of shoulder joint angles and cable lengths. This helps in locating the GH-c center appropriately within the kinematic model. As a result, more accurate kinematic model can be used to improve the training of human users. An estimation algorithm is presented to compute the GH-c in real-time. The algorithm was implemented on the latest prototype of CAREX. Simulations and preliminary experimental results are presented to validate the proposed GH-c estimation method.
在过去几年中，作者们提出了几种用于手臂康复的由能力驱动的上肢骨骼（CAREX）原型。CAREX的一个假设是，在运动过程中，肱盂关节旋转中心（GH-c）在惯性参考系中保持静止，这导致运动学模型不准确，并可能妨碍训练性能。在本文中，我们提出了一种新颖的方法，利用肩关节角度和绳索长度的测量来估计GH-c。这有助于在运动学模型中适当地定位GH-c中心。结果，可以使用更准确的运动学模型来改善对人类用户的训练。提出了一种估计算法来实时计算GH-c。该算法在CAREX的最新原型上实现。给出了仿真和初步实验结果以验证所提出的GH-c估计方法。
