Using proposed optimization algorithm for solving inverse kinematics of human upper limb applying in rehabilitation robotic

摘要

The requirement to solve the problem of Inverse Kinetics (IK) plays a very important role in the robotics field in general, and especially in the field of rehabilitation robots, in particular. If the solutions of this problem are not suitable, it can cause undesirable damage to the patient when exercising. Normally, the problem of Inverse Kinematics in the robotics field, as well as the natural field, especially for redundant driven systems, often requires the application of a lot of techniques. The redundancy in Degree of Freedom (DoF), the nonlinearity of the system leads to solve inverse kinematics problem more challenge. In this study, we proposed to apply the self-adaptive control parameters in Differential Evolution with search space improvement (Pro-ISADE) to solve the problem for the human upper limb, which is a very typical redundancy model in nature. First of all, the angles of the joints were measured by a proposed Exoskeleton type Human Motion Capture System (E-HMCS) when the wearer performs some Activities of Daily Living (ADL) and athletic activities. The values of these measured angles joints then were put into the forward kinematics model to find the end effector trajectories. After having these orbits, they were re-fed into the proposed Pro-ISADE algorithm mentioned above to process the IK problem and obtain the predicted joints angular values. The experimental results showed that the predicted joints' values closely follow the measured joints' values. That demonstrates the ability to apply the Pro-ISADE algorithm to solve the problem of Inverse Kinetics of the human upper limb as well as the upper limb rehabilitation robot arm.