A Optimization Study on the Upper Limb Exoskeleton based on Beetle Antennae Search

Abstract

Paralyzed exoskeleton robots of upper limb can be used to help patients with paralysis or stroke to carry out rehabilitation training, and it has attracted extensive attention because of its standard and effective help to rehabilitation. However, the exoskeleton robots are coupled highly-nonlinear systems, which is difficult to solve it through the traditional analytical method. The most common method is to obtain the analytic joint angles from joint velocity spaces by using the pseudo-inverse-based calculation method, which may lead to more calculation cost and lower system accuracy. In this paper, a motion planning method based on beetle antenna search algorithm(BAS) was improved. The proposed method greatly enhance the control accuracy of the system, and also improves the efficiency of the original algorithm. The simulation results show the effectiveness of the improved motion planning method.