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Inverse Kinematic solution of u-Rob4 an hybrid exoskeleton for stroke rehabilitation

In rehabilitation of upper-limb disability, robotic exoskeleton often need to perform task-based exercises. In order for exoskeleton to conduct task-based exercises, using inverse kinematic solution is a must to generate the safe trajectory from staring point to end point. Finding inverse kinematic solution for manipulator or exoskeletons that involve hybrid serial-parallel mechanisms always remains an open problem. This situation is worsened when joints with complex motion are considered, such as the shoulder joint. Therefore, in this research we present the inverse kinematic solution of a hybrid exoskeleton called u-Rob4, which includes two parallel configurations to handle the changes of the shoulder center of rotation