IEEE Trans Neural Syst Rehabil Eng. 2024;32:1142-1153. doi: 10.1109/TNSRE.2024.3356724. Epub 2024 Mar 14.
Many rehabilitation exoskeletons have been used in the field of stroke rehabilitation. Generating human-like motion is necessary for exoskeletons to help patients perform activities of daily living (ADL) while maintaining interaction quality and ergonomics. However, most of the current motion generation algorithms utilize inverse kinematics (IK) to solve the final configuration before generation, and do not consider the movement of shoulder girdle. Separately considering the shoulder girdle motion and arm motion, this paper proposes an algorithm integrated IK to generate human-like motion. The arm moves towards the target with a bell-shaped velocity in the absence of the final configuration, and the shoulder girdle maintain natural passive motion. Moreover, the generated motion can be mapped to the configuration space of exoskeletons. Compared with the experimental data collected using a motion capture system, the values of RMSE and HPDI of the generated wrist trajectory in the task space are within 0.2 and 0.17, respectively, while those of RMSE in the joint space are within 15 deg, which demonstrates the human-like nature of the generated motion.
许多康复外骨骼已应用于中风康复领域。为了帮助患者进行日常生活活动（ADL），外骨骼需要生成类似人类的运动，同时保持交互质量和人体工程学。然而，目前大多数运动生成算法利用逆运动学（IK）来解决生成前的最终配置，而不考虑肩部运动。本文分别考虑肩部运动和手臂运动，提出了一种集成 IK 的算法来生成类似人类的运动。在没有最终配置的情况下，手臂以钟形速度向目标移动，而肩部保持自然的被动运动。此外，生成的运动可以映射到外骨骼的配置空间。与使用运动捕捉系统收集的实验数据相比，任务空间中生成的手腕轨迹的 RMSE 和 HPDI 值分别在 0.2 和 0.17 以内，而关节空间中的 RMSE 值在 15 度以内，这表明生成的运动具有类似人类的特性。
