Kinematics and Dynamics Representation Study of Upper-Limb Exoskeleton

Abstract

An exoskeleton has been identified as one of the solution to human muscle fatigue. The objective of this paper is to study the dynamics of the developed exoskeleton for designing the control system. The Denavit-Hartenberg (DH) and closed form solution are implemented to study the forward and inverse kinematics. The Euler-Lagrange approach is used to develop the dynamic system of the exoskeleton. The comparative study using Simmechanics in terms of the torque required is used to validate the dynamics representation. The results show that the torque generated from the Euler-Lagrange were similar in shape with the Simmechanics.