Task-Based Trajectory Planning for an Exoskeleton Upper Limb Rehabilitation Robot

  • Qiaoling MengEmail author
  • Haicun Shao
  • Lulu Wang
  • Hongliu Yu
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 527)


Trajectory planning is one of important keys to insure more active effects when the patients do their training plan with an upper rehabilitation robot, especially with an exoskeleton one. However, an exoskeleton upper rehabilitation robot is hard to assist the patients without a motion plan target. This paper proposes a new approach to trajectory planning for an exoskeleton upper limb rehabilitation robot based on ADL training task. In this work, the ADL training task is summarized and analyzed in order to provide task target for the trajectory planning. A new exoskeleton upper limb rehabilitation robot is proposed and its kinematical model is deduced as the base of trajectory planning. A circle-task trajectory planning is analyzed based on the aforementioned work. In the end, an experiment is done to verify the results. Such motion pre-definition can make more clear training target for the patients. In the other words, an exact trajectory planning can help to promote the rehabilitation training effects.


Upper limb rehabilitation robot Trajectory planning ADL training Ergonomics 


Compliance with Ethical Standards

The study was approved by the Logistics Department for Civilian Ethics Committee of University of Shanghai for Science and Technology. All subjects who participated in the experiment were provided with and signed an informed consent form. All relevant ethical safeguards have been met with regard to subject protection.


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Qiaoling Meng
    • 1
    • 2
    • 3
    Email author
  • Haicun Shao
    • 1
    • 2
    • 3
  • Lulu Wang
    • 1
    • 2
    • 3
  • Hongliu Yu
    • 1
    • 2
    • 3
  1. 1.Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and TechnologyShanghaiPeople’s Republic of China
  2. 2.Shanghai Engineering Research Center of Assistive DevicesShanghaiPeople’s Republic of China
  3. 3.Key Laboratory of Neural-Functional Information and Rehabilitation Engineering of the Ministry of Civil AffairsShanghaiPeople’s Republic of China

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