Operational Space Formulation and Inverse Kinematics for an Arm Exoskeleton with Scapula Rotation
Craig Carignan,Daniil Gribok,Tuvia Rappaport,Natalie Condzal,Craig Carignan,Daniil Gribok,Tuvia Rappaport,Natalie Condzal
The operational space of an 8-axis arm exoskeleton is partitioned into "tasks" based on the human arm motion, and a task priority approach is implemented to perform the inverse kinematics. The tasks are prioritized in the event that singularities or other constraints such as joint limits render the full desired operational space infeasible. The task reconstruction method is used to circumvent sing...
