In the past few years, the authors have proposed several prototypes of a Cable-driven upper ARm EXoskeleton (CAREX) for arm rehabilitation. One of the assumptions of CAREX was that the glenohumeral joint rotation center (GH-c) remains stationary in the inertial frame during motion, which leads to inaccuracy in the kinematic model and may hamper training performance. In this paper, we propose a novel approach to estimate GH-c using measurements of shoulder joint angles and cable lengths. This helps in locating the GH-c center appropriately within the kinematic model. As a result, more accurate kinematic model can be used to improve the training of human users. An estimation algorithm is presented to compute the GH-c in real-time. The algorithm was implemented on the latest prototype of CAREX. Simulations and preliminary experimental results are presented to validate the proposed GH-c estimation method.
Real-Time Estimation of Glenohumeral Joint Rotation Center With Cable-Driven Arm Exoskeleton (CAREX)—A Cable-Based Arm Exoskeleton
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received February 21, 2012; final manuscript received September 26, 2013; published online December 27, 2013. Assoc. Editor: Kazem Kazerounian.
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Mao, Y., Jin, X., and Agrawal, S. K. (December 27, 2013). "Real-Time Estimation of Glenohumeral Joint Rotation Center With Cable-Driven Arm Exoskeleton (CAREX)—A Cable-Based Arm Exoskeleton." ASME. J. Mechanisms Robotics. February 2014; 6(1): 014502. https://doi.org/10.1115/1.4025926
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