Daniil Gribok

Operational Space Formulation and Inverse Kinematics for an Arm Exoskeleton with Scapula Rotation

The operational space of an 8-axis arm exoskeleton is partitioned into "tasks" based on the human arm motion, and a task priority approach is implemented to perform the inverse kinematics. The tasks are prioritized in the event that singularities or other constraints such as joint limits render the…