Using proposed optimization algorithm for solving inverse kinematics of human upper limb applying in rehabilitation robotic

Abstract

The requirement to solve the problem of Inverse Kinetics (IK) plays a very important role in the robotics field in general, and especially in the field of rehabilitation robots, in particular. If the solutions of this problem are not suitable, it can cause undesirable damage to the patient when exercising. Normally, the problem of Inverse Kinematics in the robotics field, as well as the natural field, especially for redundant driven systems, often requires the application of a lot of techniques. The redundancy in Degree of Freedom (DoF), the nonlinearity of the system leads to solve inverse kinematics problem more challenge. In this study, we proposed to apply the self-adaptive control parameters in Differential Evolution with search space improvement (Pro-ISADE) to solve the problem for the human upper limb, which is a very typical redundancy model in nature. First of all, the angles of the joints were measured by a proposed Exoskeleton type Human Motion Capture System (E-HMCS) when the wearer performs some Activities of Daily Living (ADL) and athletic activities. The values of these measured angles joints then were put into the forward kinematics model to find the end effector trajectories. After having these orbits, they were re-fed into the proposed Pro-ISADE algorithm mentioned above to process the IK problem and obtain the predicted joints angular values. The experimental results showed that the predicted joints’ values closely follow the measured joints’ values. That demonstrates the ability to apply the Pro-ISADE algorithm to solve the problem of Inverse Kinetics of the human upper limb as well as the upper limb rehabilitation robot arm.

Development of Hexagonal Pyramid-Shaped Flexible Actuator with Anisotropic Stiffness for Upper-Limb Rehabilitation Device

“…In the analytical model, such interference between the EFPAs was not considered, which will be our future study's focus. The length of virtual EFPA A was calculated with Equation (11). Figure 26 compares the lengths from the calculated and experimental results.…”

“…According to Figure 26, the calculated lengths agree well with the experimental results. The length of virtual EFPA A was calculated with Equation (11). Figure 26 compares the lengths from the calculated and experimental results.…”

“…Therefore, a rehabilitation device that can safely provide passive exercises is desirable. To address these issues, various wearable and rehabilitation devices that support exercise and nursing care have been actively researched and developed [3][4][5][6][7][8][9][10][11]. Joints such as the upper limbs and legs were effectively exercised utilizing these devices.…”

“…Actuators 2023, 12, x FOR PEER REVIEW 2 of 18 nursing care have been actively researched and developed [3][4][5][6][7][8][9][10][11]. Joints such as the upper limbs and legs were effectively exercised utilizing these devices.…”

Identification of inverse kinematic parameters in redundant systems: Towards quantification of inter-joint coordination in the human upper extremity

“…The use of pseudo-inverse methods in rehabilitation robotics is often criticized for 1) providing multiple solutions, 2) generating unnatural postures, and 3) lack of solution when the Jacobian matrix is singular. Therefore, there is an inclination toward closed-form solutions for rehabilitative applications [72]; for example, see [73][74][75][76][77][78][79][80]. While these analytical models provide reliable IK solutions for rehabilitation purposes, they cannot be used to measure the quality of the motion or to explain human kinematic data and its variability; e.g., individual differences or the evolution of the subject's performance in the course of the therapy.…”