Learning by Demonstration for Motion Planning of Upper-Limb Exoskeletons
Abstract
The reference joint position of upper-limb exoskeletons is typically obtained by means of Cartesian motion planners and inverse kinematics algorithms with the inverse Jacobian; this approach allows exploiting the available Degrees of Freedom (i.e. DoFs) of the robot kinematic chain to achieve the desired end-effector pose; however, if used to operate non-redundant exoskeletons, it does not ensure that anthropomorphic criteria are satisfied in...
Paper Details
Title
Learning by Demonstration for Motion Planning of Upper-Limb Exoskeletons
Published Date
Feb 23, 2018
Journal
Volume
12
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