Kinematic Synergy of Multi-DoF Movement in Upper Limb and Its Application for Rehabilitation Exoskeleton Motion Planning.
Shangjie TangLin ChenMichele BarsottiLintao HuYongqiang LiXiaoying WuLong BaiAntonio FrisoliWensheng HouPublished in: Frontiers Neurorobotics (2019)
Keyphrases
- motion planning
- degrees of freedom
- joint angles
- joint space
- inverse kinematics
- robot arm
- human hand
- trajectory planning
- end effector
- configuration space
- robotic tasks
- pose estimation
- kinematic model
- robotic arm
- path planning
- obstacle avoidance
- manipulation tasks
- mobile robot
- control law
- autonomous mobile robot
- mechanical systems
- computer vision
- human computer interaction