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Optimal Design of a Grasping Device Through Simplified Pose Synthesis of a Four-Bar Linkage Read chapter Read first chapter

2017 | OriginalPaper | Chapter

Inverse Kinematics and Dynamics of an Overconstrained Manipulator for Upper Extremity Rehabilitation

Authors : Ö. Selvi, K. Yilmaz

Published in: New Advances in Mechanisms, Mechanical Transmissions and Robotics

Publisher: Springer International Publishing

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Abstract

In this paper, an overconstrained manipulator is selected for the purpose of rehabilitation of the upper extremity. The geometry of the selected manipulator fits the exact motion of the upper extremity and acts as an exoskeleton. Inverse kinematics calculations are shown for describing the motion of actuators for a desired arm motion. Lagrange Formulation is used for the inverse dynamic model of the system. Due to the geometry of the manipulator, kinematic and dynamic calculations are applied to the two spherical subspaces of the manipulator using imaginary joints.

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Metadata
Title
Inverse Kinematics and Dynamics of an Overconstrained Manipulator for Upper Extremity Rehabilitation
Authors
Ö. Selvi
K. Yilmaz
Copyright Year
2017
Book
New Advances in Mechanisms, Mechanical Transmissions and Robotics

Print ISBN: 978-3-319-45449-8

Electronic ISBN: 978-3-319-45450-4

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-45450-4_44

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