Operational Space Formulation and Inverse Kinematics for an Arm Exoskeleton with Scapula Rotation.
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)（2020）
Key words
singular configuration,task priority inverse kinematics,Jacobian inverse methods,MGA Exoskeleton,operational space formulation,scapula rotation,8-axis arm exoskeleton,human arm motion,task priority approach,task reconstruction
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