Title :
Kinematics simulation of upper limb rehabilitant robot based on virtual reality techniques
Author :
Wang, Jianhui ; Jiang, ZhiBin ; Wang, XiaoFeng ; Zhang, Yu ; Guo, Dan
Author_Institution :
Coll. of Inf. Sci. & Eng., Northeastern Univ., Shenyang, China
Abstract :
The wearable exoskeletal robot for upper extremity rehabilitation is taken as the research object. According to D-H method, an accurate three-dimensional mechanism model for the robot system is established by SolidWorks software. The virtual set was generated in Simulink/VRML to carry out dynamic simulation. The variable parameters were set based on robotic practical joint range movement. The simulation of all joints and terminal trajectory and space motion area provided theoretical basis for position control, remote control and trajectory planning, realizing the rehabilitation robot visualizations and system interaction.
Keywords :
control engineering computing; data visualisation; human-robot interaction; medical robotics; patient rehabilitation; position control; robot kinematics; solid modelling; telecontrol; virtual reality; 3D mechanism model; D-H method; Simulink; SolidWorks software; VRML; kinematics simulation; position control; rehabilitation robot visualizations; remote control; robotic practical joint range movement; space motion area; system interaction; terminal trajectory; trajectory planning; upper extremity rehabilitation; upper limb rehabilitant robot; virtual reality techniques; wearable exoskeletal robot; Joints; Mathematical model; Robot kinematics; Solid modeling; Trajectory; Virtual reality; forward kinematics; motion trajectory; rehabilitation robot; virtual reality;
Conference_Titel :
Artificial Intelligence, Management Science and Electronic Commerce (AIMSEC), 2011 2nd International Conference on
Conference_Location :
Deng Leng
Print_ISBN :
978-1-4577-0535-9
DOI :
10.1109/AIMSEC.2011.6009874
