A Novel Inverse Kinematics Method for Upper-Limb Exoskeleton under Joint Coordination Constraints
Stefano Dalla Gasperina,Keya Ghonasgi,Ana C. de Oliveira,Marta Gandolla,Alessandra Pedrocchi,Ashish Deshpande,Stefano Dalla Gasperina,Keya Ghonasgi,Ana C. de Oliveira,Marta Gandolla,Alessandra Pedrocchi,Ashish Deshpande
In this study, we address the inverse kinematics problem for an upper-limb exoskeleton by presenting a novel method that guarantees the satisfaction of joint-space constraints, and solves closed-chain mechanisms in a serial robot configuration. Starting from the conventional differential kinematics method based on the inversion of the Jacobian matrix, we describe and test two improved algorithms b...
