Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Analysis on Kinematics and Dynamics of Human Arm Movement Toward Upper Limb Exoskeleton Robot Control Part 1: System Model and Kinematic Constraint

상지 외골격 로봇 제어를 위한 인체 팔 동작의 기구학 및 동역학적 분석 - 파트 1: 시스템 모델 및 기구학적 제한

  • Received : 2012.07.16
  • Accepted : 2012.10.08
  • Published : 2012.12.01
Download PDF
⟨ Previous Next ⟩

Abstract

To achieve synchronized motion between a wearable robot and a human user, the redundancy must be resolved in the same manner by both systems. According to the seven DOF (Degrees of Freedom) human arm model composed of the shoulder, elbow, and wrist joints, positioning and orientating the wrist in space is a task requiring only six DOFs. Due to this redundancy, a given task can be completed by multiple arm configurations, and thus there exists no unique mathematical solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and their effect on the redundancy resolution of the human arm based on a seven DOF manipulator model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing different cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid for the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each two consecutive points along the task space trajectory. As a first step, the redundancy based on the kinematic criterion will be thoroughly studied based on the motion capture data analysis. Experimental results indicate that by using the proposed redundancy resolution criterion in the kinematic level, error between the predicted and the actual swivel angle acquired from the motor control system is less than five degrees.

Keywords

References

  1. J. C. Perry, J. Rosen, and S. Burns, "Upper-limb powered exoskeleton design," Mechatronics, vol. 12, no. 4, pp. 408-417, 2007.
  2. A. Zoss, H. Kazerooni, and A. Chu, "On the mechanical design of the berkeley lower extremity exoskeleton (bleex)," IEEE/RSJ International Conference on Intelligent Robots and Systems, Alberta, Canada, July 2005.
  3. C. Gielen, E. J. Vrijenhoek, T. Flash, and S. Neggers, "Review of models for the generation of multi-joint movements in 3-d," Advances in experimental medicine and biology, Progress in Motor Control, vol. 629, pp. 523-550, 2009. https://doi.org/10.1007/978-0-387-77064-2_28
  4. T. Asfour and R. Dillmann, "Human-like motion of a humanoid robot arm based on a closed-form solution of the inverse kinematics problem," Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 2, pp. 27-31, Oct. 2003.
  5. P. K. Artemiadis, P. T. Katsiaris, and K. J. Kyriakopoulos, "A biomimetic approach to inverse kinematics for a redundant robot arm," Autonomous Robots, vol. 29, no. 3-4, pp. 293-308, 2010. https://doi.org/10.1007/s10514-010-9196-x
  6. S. Haykin, Adaptive Filter Theory, Fourth edition. Reading, MA: Prentice Hall, 2002.
  7. D. Kriesel, A Brief Introduction to Neural Networks. http://www.dkriesel.com, 2007.
  8. P. Lee, S. Wei, J. Zhao, and N. I. Badler, "Strength guided motion," Computer Graphics, vol. 24, no. 4, pp. 253-262, 1990. https://doi.org/10.1145/97880.97907
  9. T. Kang, J. He, and S. I. H. Tillery, "Determining natural arm configuration along a reaching trajectory," Exp Brain Res, vol. 167, no. 3, pp. 352-361, 2005. https://doi.org/10.1007/s00221-005-0039-5
  10. M. A. Admiraal, M. J. Kusters, and S. C. Gielen, "Modeling kinematics and dynamics of human arm movements," Motor Control, vol. 8, no. 3, pp. 312-338, 2004. https://doi.org/10.1123/mcj.8.3.312
  11. H. Kim, L. M. Miller, and J. Rosen, "Redundancy resolution of a human arm for controlling a seven dof wearable robotic system," Proc. of the IEEE EMBC, Boston, USA, Aug./Sep. 2011.
  12. H. Kim, Z. Li, D. Milutinovic, and J. Rosen, "Resolving the redundancy of a seven dof wearable robotic system based on kinematic and dynamic constraint," The Proceedings of 2012 IEEE International Conference on Robotics and Automation, Saint Paul, Minnesota, USA, May 2012.
  13. L. M. Miller and J. Rosen, "Comparison of multi-sensor admittance control in joint space and task space for a seven degree of freedom upper limb exoskeleton," Proc. of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp.70-75, 2010.
  14. N. I. Badler and D. Tolani, "Real-time inverse kinematics of the human arm," Presence, vol. 5, no. 4, pp. 393-401, 1996.
  15. D. Tolani, A. Goswami, and N. I. Badler, "Real-time inverse kinematics techniques for anthropomorphic limbs," Graphical Models and Image Processing, vol. 62, no. 5, pp. 353-388, Sep. 2000. https://doi.org/10.1006/gmod.2000.0528
  16. R. M. Murray, Z. Li, and S. S. Sastry, A Mathematical Introduction to Robotic Manipulation. CRC Press, 1994.
  17. R. Dum and P. Strick, Motor Areas in the frontal Lobe: The Anatomical Substrate for the Central Control of Movement, In Motor Cortex in Voluntary Movements. CRC press, 2005.
  18. M. S. A. Graziano, C. S. R. Taylor, and T. Moore, "Complex movements evoked by micro stimulation of precentral cortex," Neuron, vol. 30, no. 30;34(5), pp. 841-851, 2002. https://doi.org/10.1016/S0896-6273(02)00698-0
  19. A. A. Maciejewski, "Dealing wit the ill-conditioned equations of motion for articulated figures," IEEE Computer Graphics and Applications, pp. 63-71, 1990.
  20. D. C. Lay, Linear Algebra and Its Applications, 3rd., edition. Addison Wesley, 2005.
  21. Y.-M. Kim and B.-K. Kim, "Redundancy reolution for free-floating manipulators using kinematic optimal control approach," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 17, no. 8, pp. 790-798, 2011. https://doi.org/10.5302/J.ICROS.2011.17.8.790
  22. H. Han and J. Kim, "Prediction of the upper limb motion based on a geometrical muscle changes for physical human machine interaction," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 16, no. 10, pp. 927-932, 2010. https://doi.org/10.5302/J.ICROS.2010.16.10.927

Cited by

  1. A User Interface for Vision Sensor based Indirect Teaching of a Robotic Manipulator vol.19, pp.10, 2013, https://doi.org/10.5302/J.ICROS.2013.13.8011
  2. Analysis on the Kinematics and Dynamics of Human Arm Movement Toward Upper Limb Exoskeleton Robot Control - Part 2: Combination of Kinematic and Dynamic Constraints vol.20, pp.8, 2014, https://doi.org/10.5302/J.ICROS.2014.13.0012
  3. Analysis on Torques of Shoulder and Elbow Joints of Humanoid Robot Arm for Lifting Tasks vol.25, pp.3, 2015, https://doi.org/10.5391/JKIIS.2015.25.3.223