Upper limb exoskeleton rehabilitation robot inverse kinematics modeling and solution method based on multi-objective optimization.
Human-like motion
Inverse kinematics modeling
Multi-objective optimization
Redundant upper limb exoskeleton robot
Journal
Scientific reports
ISSN: 2045-2322
Titre abrégé: Sci Rep
Pays: England
ID NLM: 101563288
Informations de publication
Date de publication:
26 Oct 2024
26 Oct 2024
Historique:
received:
06
08
2024
accepted:
21
10
2024
medline:
27
10
2024
pubmed:
27
10
2024
entrez:
27
10
2024
Statut:
epublish
Résumé
The inverse kinematics problem of exoskeleton rehabilitation robots is challenging due to the lack of a standard analytical model, resulting in a complex and varied solution process. This complexity is especially pronounced in redundant upper limb exoskeleton robots, where inefficient solutions hinder the robot's ability to adapt to the kinematic shape of the upper limb. This paper proposes a modeling and solution method based on multi-objective optimization to address the inverse kinematics of upper limb exoskeleton robots. We analyzed and validated this method using a redundant upper limb exoskeleton rehabilitation robot system developed by ourselves. First, we established a multi-objective inverse kinematics solution model by defining the end-position function, joint motion comfort function, system energy consumption function, motion safety, and human-like constraints. Then, the solution was designed based on the Improved Equilibrium Optimization (IEO) algorithm and validated its computational performance in terms of optimization ability, accuracy, and robustness. Finally, we experimentally tested the inverse kinematics solution model with the IEO algorithm on discrete objectives and continuous training trajectories using a redundant upper limb exoskeleton rehabilitation robot system. The results show that by incorporating the joint comfort function, system energy consumption function, and human-like constraints into the inverse kinematics model, we can not only quickly solve the inverse kinematics of redundant upper limb exoskeleton robots but also significantly improve the robot's motion shape. Furthermore, it has better solution accuracy and stronger robustness than other algorithms when solving this inverse kinematics model based on the IEO algorithm.
Identifiants
pubmed: 39462117
doi: 10.1038/s41598-024-77137-8
pii: 10.1038/s41598-024-77137-8
doi:
Types de publication
Journal Article
Langues
eng
Sous-ensembles de citation
IM
Pagination
25476Subventions
Organisme : China Scholarship Council (CSC) for studies at the Institute of Solid Mechanics of Romanian Academy, Roumania
ID : 202308130191
Organisme : International Cooperation Project of Ningbo City
ID : 2023H014
Organisme : International Cooperation Project of Ningbo City
ID : 2023H014
Organisme : International Cooperation Project of Ningbo City
ID : 2023H014
Organisme : National Key Research and Development Program of China
ID : 2019YFB1312500
Organisme : Shenzhen Science and Technology Innovation Program
ID : CJGJZD20220517142405013
Organisme : Shenzhen Science and Technology Innovation Program
ID : CJGJZD20220517142405013
Informations de copyright
© 2024. The Author(s).
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