Inverse Kinematics Estimation Based on Smart Optimization for Biomechanical Linkages

To obtain an analytical solution of inverse kinematics in complex biomechanic linkages is a difficult, even impossible problem. This could be because the kinematic redundancy and the large number of degrees of freedom that it involves. EvoNorm is a smart optimization algorithm that can be useful to solve this kind of problems. For this reason, in this work a numerical solution of the inverse kinematics problem for biomechanical linkages is proposed. It is computed using EvoNorm by minimizing a fitness function based on the joints position. Two prototypes are presented as study cases: a hand and a lower-limb exoskeleton. Results illustrate the performance of the proposed methodology.