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Are there designs for redundant upper-limb exoskeleton manipulators, and what are the effects of incorporating kinematic redundancy?

This analysis examines existing designs for kinematically redundant upper-limb exoskeletons and evaluates the effects of this redundancy.

RoboticSimulation RobotLearning RedundantUpperLimb

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By Suma Answered 1 year ago

Yes, redundant exoskeletons (with 7+ DoF) exist for the arm. Redundancy allows the device to match the human arm's natural kinematics better, avoid singularities, and optimize for secondary goals like minimizing actuator torque or avoiding joint limits while still achieving the desired end-effector position, improving comfort and safety.

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Are there designs for redundant upper-limb exoskeleton manipulators, and what are the effects of incorporating kinematic redundancy?

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