Open AccessSingularity and Ergonomics Analysis for Upper-limb Exoskeleton System
Author(s) -
Xia Zengchenghao
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1748/6/062062
Subject(s) - exoskeleton , singularity , kinematics , kinematic chain , particle swarm optimization , computer science , mechanism (biology) , engineering , simulation , mathematics , physics , classical mechanics , algorithm , geometry , quantum mechanics
An exoskeleton is an external structural mechanism that can produce additional torques to the human joints and argument human movement. With applications in rehabilitation medicine, exoskeletons offer benefits for both disabled. The ergonomic and singularity analysis is the major part to evaluate the comfort of an exoskeleton. This article made effort to investigate on the singularity and ergonomics analysis on the upper-limb exoskeleton. We established the kinematic model and the kinematic chain in order to analyse the rotation and translation of the exoskeleton. Next, we simulate the velocity kinematics equation to discuss the singularity and ergonomics of the robots. We use the particle swarm optimization (PSO) algorithm to find the singular points of the models. The PSO based method has verified the efficiency of searching singularity points of the upper-limb exoskeleton system and may have benefits to improve ergonomics.