An innovative equivalent kinematic model of the human upper limb to improve the trajectory planning of exoskeleton rehabilitation robots

Abstract. Upper limb exoskeleton rehabilitation robots have been attracting significant attention by researchers due to their adaptive training, highly repetitive motion, and ability enhance the self-care capabilities of patients with disabilities. It is a key problem that existing upper exoskeletons cannot stay in line corresponding human arm during exercise. The aim evaluate whether movement provide design basis for future exoskeleton. This paper proposes new equivalent kinematic model limb, including shoulder joint, elbow wrist according anatomical structure sports biomechanical characteristics. And this analyzes motion space normal range joints building workspace proposed model. Then, trajectory planning an evaluated improved based on evaluation results show there were obvious differences between prototype arm. deviation body decreased 41.64 %. In conclusion, kinematics can effectively suggestions structural improvements motion.