Singular Configuration Analysis of a Portable Exoskeleton Arm

This paper focuses on the analysis and simulation of singularity configuration of the portable exoskeleton arm. Firstly, the kinematic equation and the Jacobian matrix are deduced. The singular configurations of the redundant exoskeleton mechanism are obtained in a manner that resolves the sub-deter...

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Bibliographic Details
Main Authors: Xiao, Yongfei, Fu, Xiaochun, Zhao, Jie
Format: Conference Proceeding
Language:English
Subjects:
dexterity
Ellipsoids
exoskeleton arm
Exoskeletons
Indexes
Jacobian matrices
Jacobian matrix
Kinematics
Manipulators
Mathematical model
simulation
singularity configuration
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Summary:This paper focuses on the analysis and simulation of singularity configuration of the portable exoskeleton arm. Firstly, the kinematic equation and the Jacobian matrix are deduced. The singular configurations of the redundant exoskeleton mechanism are obtained in a manner that resolves the sub-determinant. Secondly, the comparison between the singular configurations of the exoskeleton arm is made by the simulation of the dexterity index to demonstrate the effectiveness. Finally, the advantages and disadvantages of various dexterity indicators are analyzed in the light of the simulation results and the singular configurations. Simulation results of different dexterity indicators verified the correctness of the singularity analysis. The proposed method is helpful for the further trajectory planning research and singularity avoidance research of exoskeleton arm.
ISSN:2688-0938
DOI:10.1109/CAC48633.2019.8996857