Inverse Kinematic solution of u-Rob4 an hybrid exoskeleton for stroke rehabilitation

Javier Sanjuan De Caro; Md Rasedul Islam; Elias Munoz Montenegro; Brahim Brahmi; Mohammad Rahman

doi:10.1109/SSD52085.2021.9429419

Inverse Kinematic solution of u-Rob4 an hybrid exoskeleton for stroke rehabilitation

Javier Sanjuan De Caro^*
, Md Rasedul Islam
, Elias Munoz Montenegro
, Brahim Brahmi
, Mohammad Rahman

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

In rehabilitation of upper-limb disability, robotic exoskeleton often need to perform task-based exercises. In order for exoskeleton to conduct task-based exercises, using inverse kinematic solution is a must to generate the safe trajectory from staring point to end point. Finding inverse kinematic solution for manipulator or exoskeletons that involve hybrid serial-parallel mechanisms always remains an open problem. This situation is worsened when joints with complex motion are considered, such as the shoulder joint.

Original language	English
Title of host publication	18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	755-764
Number of pages	10
ISBN (Electronic)	9781665414937
DOIs	https://doi.org/10.1109/SSD52085.2021.9429419
State	Published - 22 Mar 2021
Externally published	Yes

Publication series

Name	18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021

Bibliographical note

Publisher Copyright:
© 2021 IEEE.

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Keywords

Closed-form Solution
Hybrid exoskeleton
Inverse Kinematics
Rehabilitation
Stroke
Upper-limb

ASJC Scopus subject areas

Artificial Intelligence
Computer Networks and Communications
Computer Science Applications
Signal Processing
Electrical and Electronic Engineering

Access to Document

10.1109/SSD52085.2021.9429419

Cite this

De Caro, J. S., Islam, M. R., Montenegro, E. M., Brahmi, B., & Rahman, M. (2021). Inverse Kinematic solution of u-Rob4 an hybrid exoskeleton for stroke rehabilitation. In 18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021 (pp. 755-764). Article 9429419 (18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSD52085.2021.9429419

De Caro, Javier Sanjuan ; Islam, Md Rasedul ; Montenegro, Elias Munoz et al. / Inverse Kinematic solution of u-Rob4 an hybrid exoskeleton for stroke rehabilitation. 18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021. Institute of Electrical and Electronics Engineers Inc., 2021. pp. 755-764 (18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021).

@inproceedings{b13c53cbc0de488399a2a863bfadd369,

title = "Inverse Kinematic solution of u-Rob4 an hybrid exoskeleton for stroke rehabilitation",

abstract = "In rehabilitation of upper-limb disability, robotic exoskeleton often need to perform task-based exercises. In order for exoskeleton to conduct task-based exercises, using inverse kinematic solution is a must to generate the safe trajectory from staring point to end point. Finding inverse kinematic solution for manipulator or exoskeletons that involve hybrid serial-parallel mechanisms always remains an open problem. This situation is worsened when joints with complex motion are considered, such as the shoulder joint.",

keywords = "Closed-form Solution, Hybrid exoskeleton, Inverse Kinematics, Rehabilitation, Stroke, Upper-limb",

author = "\{De Caro\}, \{Javier Sanjuan\} and Islam, \{Md Rasedul\} and Montenegro, \{Elias Munoz\} and Brahim Brahmi and Mohammad Rahman",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.",

year = "2021",

month = mar,

day = "22",

doi = "10.1109/SSD52085.2021.9429419",

language = "English",

series = "18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "755--764",

booktitle = "18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021",

address = "United States",

}

De Caro, JS, Islam, MR, Montenegro, EM, Brahmi, B & Rahman, M 2021, Inverse Kinematic solution of u-Rob4 an hybrid exoskeleton for stroke rehabilitation. in 18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021., 9429419, 18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021, Institute of Electrical and Electronics Engineers Inc., pp. 755-764. https://doi.org/10.1109/SSD52085.2021.9429419

Inverse Kinematic solution of u-Rob4 an hybrid exoskeleton for stroke rehabilitation. / De Caro, Javier Sanjuan; Islam, Md Rasedul; Montenegro, Elias Munoz et al.
18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 755-764 9429419 (18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Inverse Kinematic solution of u-Rob4 an hybrid exoskeleton for stroke rehabilitation

AU - De Caro, Javier Sanjuan

AU - Islam, Md Rasedul

AU - Montenegro, Elias Munoz

AU - Brahmi, Brahim

AU - Rahman, Mohammad

PY - 2021/3/22

Y1 - 2021/3/22

N2 - In rehabilitation of upper-limb disability, robotic exoskeleton often need to perform task-based exercises. In order for exoskeleton to conduct task-based exercises, using inverse kinematic solution is a must to generate the safe trajectory from staring point to end point. Finding inverse kinematic solution for manipulator or exoskeletons that involve hybrid serial-parallel mechanisms always remains an open problem. This situation is worsened when joints with complex motion are considered, such as the shoulder joint.

AB - In rehabilitation of upper-limb disability, robotic exoskeleton often need to perform task-based exercises. In order for exoskeleton to conduct task-based exercises, using inverse kinematic solution is a must to generate the safe trajectory from staring point to end point. Finding inverse kinematic solution for manipulator or exoskeletons that involve hybrid serial-parallel mechanisms always remains an open problem. This situation is worsened when joints with complex motion are considered, such as the shoulder joint.

KW - Closed-form Solution

KW - Hybrid exoskeleton

KW - Inverse Kinematics

KW - Rehabilitation

KW - Stroke

KW - Upper-limb

UR - https://www.scopus.com/pages/publications/85107515987

U2 - 10.1109/SSD52085.2021.9429419

DO - 10.1109/SSD52085.2021.9429419

M3 - Conference contribution

AN - SCOPUS:85107515987

T3 - 18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021

SP - 755

EP - 764

BT - 18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

De Caro JS, Islam MR, Montenegro EM, Brahmi B, Rahman M. Inverse Kinematic solution of u-Rob4 an hybrid exoskeleton for stroke rehabilitation. In 18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 755-764. 9429419. (18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021). doi: 10.1109/SSD52085.2021.9429419

Inverse Kinematic solution of u-Rob4 an hybrid exoskeleton for stroke rehabilitation

Abstract

Publication series

Bibliographical note

UN SDGs

Keywords

ASJC Scopus subject areas

Access to Document

Fingerprint

Cite this