Direct Kinematics and Jacobian Analysis of Exoskeleton Robots using Screw Theory and Simscape Multibody ™

Abstract

This papers deal with the direct kinematics analysis of exoskeleton robots for rehabilitation. An alternative methodology to address the direct kinematic problem based on the Screws theory is presented. Then, a Jacobian analysis is performed, and an equivalent model in Simscape Multibody (Simulink) in order to perform further dynamics and control analysis is found, MATLAB as a testing tool and programming language is used.