@inproceedings{3c232f5c417d42e98dfa66edb72659e0,
title = "Singular Configuration Analysis of a Portable Exoskeleton Arm",
abstract = "This paper focuses on the analysis and simulation of singularity configuration of the portable exoskeleton arm. Firstly, the kinematic equation and the Jacobian matrix are deduced. The singular configurations of the redundant exoskeleton mechanism are obtained in a manner that resolves the sub-determinant. Secondly, the comparison between the singular configurations of the exoskeleton arm is made by the simulation of the dexterity index to demonstrate the effectiveness. Finally, the advantages and disadvantages of various dexterity indicators are analyzed in the light of the simulation results and the singular configurations. Simulation results of different dexterity indicators verified the correctness of the singularity analysis. The proposed method is helpful for the further trajectory planning research and singularity avoidance research of exoskeleton arm.",
keywords = "Jacobian matrix, dexterity, exoskeleton arm, simulation, singularity configuration",
author = "Yongfei Xiao and Xiaochun Fu and Jie Zhao",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 Chinese Automation Congress, CAC 2019 ; Conference date: 22-11-2019 Through 24-11-2019",
year = "2019",
month = nov,
doi = "10.1109/CAC48633.2019.8996857",
language = "英语",
series = "Proceedings - 2019 Chinese Automation Congress, CAC 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "84--88",
booktitle = "Proceedings - 2019 Chinese Automation Congress, CAC 2019",
address = "美国",
}