Kinematic Simulation of Upper Limb Powered Exoskeleton

With the continuous advancement of robotic technologies, research on exoskeleton robots for industrial applications has gained momentum. This paper proposes an upper limb powered exoskeleton model and analyzes the forward/inverse kinematics of its robotic arm. First, a three-dimensional model of the upper limb powered exoskeleton was established. Subsequently, the MD-H model for the robotic arm was constructed. Algebraic methods were then employed to solve the forward/inverse kinematics. Finally, MATLAB was utilized to validate a set of inverse solutions, revealing maximum deviation of 0.042 along the z-axis and minimum deviation of 0.003 along the x-axis between predicted and simulated target positions.