RT Journal Article
T1 Upper-limb kinematic parameter estimation and localization using a compliant robotic manipulator.
A1 Ruiz-Ruiz, Francisco J.
A1 Gandarias Palacios, Juan Manuel
A1 Pastor-Martín, Francisco
A1 Gómez-de-Gabriel, Jesús Manuel
K1 Detectores
K1 Robótica
K1 Cinemática
AB Assistive and rehabilitation robotics have gained momentum over the past decade and areexpected to progress significantly in the coming years. Although relevant and promising research advanceshave contributed to these fields, challenges regarding intentional physical contact with humans remain.Despite being a fundamental component of assistive and rehabilitation tasks, there is an evident lack ofwork related to robotic manipulators that intentionally manipulate human body parts. Moreover, existingsolutions involving end-effector robots are not based on accurate knowledge of human limb dimensions andtheir current configuration. This knowledge, which is essential for safe human–limb manipulation, dependson the grasping location and human kinematic parameters. This paper addresses the upper-limb manipulationchallenge and proposes a pose estimation method using a compliant robotic manipulator. To the best of ourknowledge, this is the first attempt to address this challenge. A kinesthetic-based approach enables estimationof the kinematic parameters of the human arm without integrating external sensors. The estimation methodrelies only on proprioceptive data obtained from a collaborative robot with a Cartesian impedance-basedcontroller to follow a compliant trajectory that depends on human arm kinodynamics. The human armmodel is a 2-degree of freedom (DoF) kinematic chain. Thus, prior knowledge of the arm’s behavior and anestimation method enables estimation of the kinematic parameters. Two estimation methods are implementedand compared: i) Hough transform (HT); ii) least squares (LS). Furthermore, a resizable, sensorized dummyarm is designed for experimental validation of the proposed approach. Outcomes from six experiments withdifferent arm lengths demonstrate the repeatability and effectiveness of the proposed methodology, whichcan be used in several rehabilitation robotic applications.
PB IEEE
YR 2021
FD 2021-03-18
LK https://hdl.handle.net/10630/34038
UL https://hdl.handle.net/10630/34038
LA eng
NO F. J. Ruiz-Ruiz, J. M. Gandarias, F. Pastor and J. M. Gómez-De-Gabriel, "Upper-Limb Kinematic Parameter Estimation and Localization Using a Compliant Robotic Manipulator," in IEEE Access, vol. 9, pp. 48313-48324, 2021, doi: 10.1109/ACCESS.2021.3067108
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 24 ene 2026