Li Ge, Fang Qianqian, Xu Tian, Zhao Jie, Cai Hegao, Zhu Yanhe
Technol Health Care. 2019;27(S1):123-132. doi: 10.3233/THC-199012.
Stroke is the most prevalent neurological disease and often leads to disability. Stroke can affect a person's daily life, for example, its typical feature is the decline in the patient's upper limbs. In order to reduce the sports injury of stroke patients, the best method is to carry out certain rehabilitation training.
In this paper, inverse kinematic analysis and trajectory planning of a modular upper limb rehabilitation exoskeleton are proposed.
The reverse coordinate system method is applied to solve inverse kinematics of the exoskeleton with a non-spherical joint in the wrist. For verifying the effectiveness of the algorithms, the smooth round-trip trajectory movement in joint place is designed and simulated.
The reverse coordinate system method can simplify the calculation process compared with the normal coordinate system. Smooth round-trip trajectory planning is simulated to generate a smooth trajectory curve.
The developed inverse kinematics algorithm and trajectory planning method are effective.
中风是最常见的神经系统疾病，常导致残疾。中风会影响人的日常生活，例如，其典型特征是患者上肢功能下降。为减少中风患者的运动损伤，最佳方法是进行一定的康复训练。
本文提出一种模块化上肢康复外骨骼的逆运动学分析及轨迹规划方法。
应用逆坐标系法求解腕部具有非球形关节的外骨骼逆运动学。为验证算法的有效性，设计并模拟了关节空间的平滑往返轨迹运动。
与常规坐标系相比，逆坐标系法可简化计算过程。模拟平滑往返轨迹规划生成了平滑的轨迹曲线。
所开发的逆运动学算法和轨迹规划方法是有效的。
