Kinematics and Dynamics of Wearable Robots

摘要

This chapter contains sections titled: Introduction Robot mechanics: motion equations Human biomechanics Kinematic redundancy in exoskeleton systems Case Study: a biomimetic, kinematically compliant knee joint modelled by a four-bar linkage Case Study: design of a forearm pronation–supination joint in an upper limb exoskeleton Case Study: study of tremor characteristics based on a biomechanical model of the upper limb References