Configuration Comparison and Design of an Upper Limb Exoskeleton for Robot Teleoperation

摘要

This paper introduces several types of configuration design of upper limb exoskeleton for teleoperation robots based on integrated modular joints. We analyze anatomical motion structure of human upper limb and obtain equivalent kinematic parameters. Based on the current situation of teleoperation upper extremity exoskeleton robots, the viewpoint of this paper is proposed. In order to avoid interference between the exoskeleton and the human body during exercise and to extend the range of the natural coordinated movements of it, four types of configurations are proposed. On this basis, the optimal configuration is further discussed. At the end, the structural analysis and the workspace of the overall mechanism are performed in this paper.