naa a22 4500 510821847 CHVBK 20180411083536.0 cr unu---uuuuu 180411e20130101xx s 000 0 eng 10.1007/s12541-013-0011-4 doi (NATIONALLICENCE)springer-10.1007/s12541-013-0011-4 Kinematic analysis of 7 degrees of freedom upper-limb exoskeleton robot with tilted shoulder abduction [Elektronische Daten] [Byoung Loh, Jacob Rosen] An exoskeleton robot is a hybrid between human and robot where the two are mechanically integrated to function as one intelligent as well as powerful robot. This study presents a kinematic analysis of 7degrees of freedom (DOF) exoskeleton robot with its base rotational axis skewed to avoid singularity within workspace and to maximize ease of movement in all directions. The tilt of the base rotational axis configures the exoskeleton robot into an initial posture to which it is difficult to identify a geometric transformation from a kinematical model with all joint angels set to zero. When the limbs of the exoskeleton robot are configured either vertical or parallel to the ground, the resulting configuration can be initialized and then, ensuing kinematic analysis can be more conveniently performed from this nominal configuration. An analytical relationship defining a geometric transformation from the skewed configuration to the user-defined nominal configuration is developed and an explicit closed-form inverse kinematic solution for the 7 DOF exoskeleton robot is also presented. Korean Society for Precision Engineering and Springer-Verlag Berlin Heidelberg, 2013 7 DOF Exoskeleton nationallicence Singularity nationallicence Forward Kinematics nationallicence Inverse Kinematics nationallicence Loh Byoung Department of Mechanical Systems Engineering, Hansung University, 389, Samsun-dong, Sungbuk-gu, 136-792, Seoul, South Korea aut Rosen Jacob Department of Computer Engineering, University of California at Santa Cruz, 95064, Santa Cruz, CA, USA aut International Journal of Precision Engineering and Manufacturing Korean Society for Precision Engineering 14/1(2013-01-01), 69-76 2234-7593 14:1<69 2013 14 12541 https://doi.org/10.1007/s12541-013-0011-4 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s12541-013-0011-4 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Loh Byoung Department of Mechanical Systems Engineering, Hansung University, 389, Samsun-dong, Sungbuk-gu, 136-792, Seoul, South Korea aut NATIONALLICENCE 700 1- Rosen Jacob Department of Computer Engineering, University of California at Santa Cruz, 95064, Santa Cruz, CA, USA aut NATIONALLICENCE 773 0- International Journal of Precision Engineering and Manufacturing Korean Society for Precision Engineering 14/1(2013-01-01), 69-76 2234-7593 14:1<69 2013 14 12541 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer