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Real-Time Estimation of Glenohumeral Joint Rotation Center With Cable-Driven Arm Exoskeleton (CAREX)-A Cable-Based Arm Exoskeleton.
- Source :
-
Journal of mechanisms and robotics [J Mech Robot] 2014 Feb; Vol. 6 (1), pp. 0145021-145025. Date of Electronic Publication: 2013 Dec 27. - Publication Year :
- 2014
-
Abstract
- In the past few years, the authors have proposed several prototypes of a C able-driven upper AR m EX oskeleton ( CAREX ) 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.
Details
- Language :
- English
- ISSN :
- 1942-4302
- Volume :
- 6
- Issue :
- 1
- Database :
- MEDLINE
- Journal :
- Journal of mechanisms and robotics
- Publication Type :
- Academic Journal
- Accession number :
- 24895530
- Full Text :
- https://doi.org/10.1115/1.4025926