A computational approach for human-like motion generation in upper limb exoskeletons supporting scapulohumeral rhythms

Rana Soltani-Zarrin, Amin Zeiaee, Reza Langari, Reza Tafreshi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper proposes a computational approach for generation of reference path in upper-limb exoskeletons for Activities of Daily Living (ADL) involving upper limb and the scapulohumeral rhythms of the shoulder. The proposed method can be used in exoskeletons with 3 Degrees of Freedom (DoF) in shoulder and 1 DoF in elbow, which are capable of supporting shoulder girdle. Existing computational reference generation methods are based on the assumption of fixed shoulder center during motions. However, most upper limb motions such as ADL include large scale reaching motions, during which the center of shoulder joint moves significantly. The proposed method generates the user specific reference motion in the human arm joint space and through a transformation the developed motion can be mapped into exoskeleton joint space. Comparison of the computational model outputs with experimental results of healthy subjects performing ADL, show that the proposed model is able to reproduce human-like motions.

Original languageEnglish
Title of host publication2017 International Symposium on Wearable Robotics and Rehabilitation, WeRob 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1-2
Number of pages2
ISBN (Electronic)9781538643778
DOIs
Publication statusPublished - 12 Jun 2018
Event2017 International Symposium on Wearable Robotics and Rehabilitation, WeRob 2017 - Houston, United States
Duration: 5 Nov 20178 Nov 2017

Other

Other2017 International Symposium on Wearable Robotics and Rehabilitation, WeRob 2017
CountryUnited States
CityHouston
Period5/11/178/11/17

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ASJC Scopus subject areas

  • Rehabilitation
  • Artificial Intelligence
  • Biomedical Engineering
  • Control and Optimization
  • Clinical Neurology

Cite this

Soltani-Zarrin, R., Zeiaee, A., Langari, R., & Tafreshi, R. (2018). A computational approach for human-like motion generation in upper limb exoskeletons supporting scapulohumeral rhythms. In 2017 International Symposium on Wearable Robotics and Rehabilitation, WeRob 2017 (pp. 1-2). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/WEROB.2017.8383843