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Erschienen in:
Analysis of the Acoustic Power Emitted by a Physiotherapeutic Ultrasound Equipment Used at the Brazilian Air Force Academy Kapitel lesen Erstes Kapitel lesen

2022 | OriginalPaper | Buchkapitel

Kinematic Approach for 4 DoF Upper Limb Robotic Exoskeleton in Complex Rehabilitation Tasks

verfasst von : Daily Milanés-Hermosilla, Roberto Sagaró-Zamora, Rafael Trujillo-Codorniú, Mauricio Torres-Quezada, D. Delisle-Rodriguez, T. Bastos-Filho

Erschienen in: XXVII Brazilian Congress on Biomedical Engineering

Verlag: Springer International Publishing

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Abstract

A kinematic approach for a 4 degree-of-freedom (DoF) upper-limb robotic exoskeleton is presented in this study. The aim is to reproduce simple sequence of movements frequently performed in daily activities, such as shoulder flexion/extension and adduction/abduction, arm internal/external rotation, elbow flexion/extension and wrist pronation/supination. The kinematic model obtained through an analytical approach is presented. Simulations of several rehabilitation tasks performed by our exoskeleton show that this approach is able to carry out complex movements in the articular and Cartesian spaces with view of future implementation, using point-to-point, coordinated and continuous trajectories.

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Vorheriges Kapitel The Importance of Prior Training for Effective Use of the Motorized Wheelchair
Nächstes Kapitel An Integrated Method to Analyze Degenerative Bone Conditions on Transfemoral Amputees
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Metadaten
Titel
Kinematic Approach for 4 DoF Upper Limb Robotic Exoskeleton in Complex Rehabilitation Tasks
verfasst von
Daily Milanés-Hermosilla
Roberto Sagaró-Zamora
Rafael Trujillo-Codorniú
Mauricio Torres-Quezada
D. Delisle-Rodriguez
T. Bastos-Filho
Copyright-Jahr
2022
Buch
XXVII Brazilian Congress on Biomedical Engineering

Print ISBN: 978-3-030-70600-5

Electronic ISBN: 978-3-030-70601-2

Copyright-Jahr: 2022

DOI
https://doi.org/10.1007/978-3-030-70601-2_41

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