Learning-based Estimation of Forward Kinematics for an Orthotic Parallel Robotic Mechanism

Understand

This paper introduces a 3D parallel robot with three identical five-degree-of-freedom chains connected to a circular brace end-effector, aimed to serve as an assistive device for patients with cervical spondylosis.

• The inverse kinematics of the system is solved analytically, whereas learning-based methods are deployed to solve the forward kinematics.
• The methods considered herein include a Koopman operator-based approach as well as a neural network-based approach.
• The task is to predict the position and orientation of end-effector trajectories.