Kinematic mapping of Exoskeleton with virtual KUKA robot

In this paper design of Exoskeleton robot depending on human anthropometry has been discussed. Shoulder joint contributes most of the work space, kinematic model of shoulder joint has been discussed. Further the challenge lies with mapping this 7 DOF arm exoskeleton to a 6 DOF industrial robot. This has been addressed using the virtual KUKA model. Validation is done and same has been shown using C# and Autodesk plugin module.