TY - GEN
T1 - Mapping ADL Motion Capture Data to BLUE SABINO Exoskeleton Kinematics and Dynamics
AU - Bitikofer, Christopher K.
AU - Wolbrecht, Eric T.
AU - Perry, Joel C.
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/10/26
Y1 - 2018/10/26
N2 - Design of an upper-arm exoskeleton requires knowledge of human operational ranges and workspace distributions. Motion capture recordings of right-arm motion during common tasks, known as activities of daily living (ADLs), are taken to represent a plausible workspace for an exoskeleton. An inverse kinematic model of BLUE SABINO (BiLateral Upper-extremity Exoskeleton for Simultaneous Assessment of Biomechanical and Neuromuscular Output), driven by ADL data is established to map right-arm joint locations to exoskeleton motor joint space. A kinematic representation of a human right-arm driven by ADL data is implemented via a vector analysis utilizing quaternion rotation/translation and used to visualize ADL recordings. A model of the BLUE SABINO exoskeleton whose motion is driven by the mapped motorjoint-space data is used to validate the mapping graphically. The available ADL database is mapped to motor joint space. Motor position distributions are generated from the resulting dataset and estimates of robot range of motion, (ROM) and statistics for shoulder motor positions are established. A kinematically and inertially accurate model of the BLUE SABINO is developed by exporting SolidWorksOR part models into SimScape Multibody (MathWorks). The model is used to produce operational torque estimates for shoulder motors. Initial simulations indicate that the motors of interest have been properly sized.
AB - Design of an upper-arm exoskeleton requires knowledge of human operational ranges and workspace distributions. Motion capture recordings of right-arm motion during common tasks, known as activities of daily living (ADLs), are taken to represent a plausible workspace for an exoskeleton. An inverse kinematic model of BLUE SABINO (BiLateral Upper-extremity Exoskeleton for Simultaneous Assessment of Biomechanical and Neuromuscular Output), driven by ADL data is established to map right-arm joint locations to exoskeleton motor joint space. A kinematic representation of a human right-arm driven by ADL data is implemented via a vector analysis utilizing quaternion rotation/translation and used to visualize ADL recordings. A model of the BLUE SABINO exoskeleton whose motion is driven by the mapped motorjoint-space data is used to validate the mapping graphically. The available ADL database is mapped to motor joint space. Motor position distributions are generated from the resulting dataset and estimates of robot range of motion, (ROM) and statistics for shoulder motor positions are established. A kinematically and inertially accurate model of the BLUE SABINO is developed by exporting SolidWorksOR part models into SimScape Multibody (MathWorks). The model is used to produce operational torque estimates for shoulder motors. Initial simulations indicate that the motors of interest have been properly sized.
UR - https://www.scopus.com/pages/publications/85056652893
U2 - 10.1109/EMBC.2018.8513164
DO - 10.1109/EMBC.2018.8513164
M3 - Conference contribution
C2 - 30441445
AN - SCOPUS:85056652893
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 4914
EP - 4919
BT - 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018
Y2 - 18 July 2018 through 21 July 2018
ER -
