Respository containing analysis files for the AREBO project.
The following three notebooks contain the code for results presented in the JRATE paper on the design and optimization of AREBO's kinematic structure.
AREBO_Simulation.ipynb Contains an interactive simulation for visualizing the structure AREBO's open kinematic chain, and the human robot-closed kinematic chain.
AREBO_Optimization.ipynb Contains the code for the numerical optimization performed for finding the optimal link lengths for the robot.
AREBO_HumanLimb_Estimation.ipynb Contains the code for the simulation analysis performed for evaluating the performance of the proposed algorightm for estimating the human limb parameters.
The code was developed using Python 3.
Download or clone the folder to your local machine. The notebooks for optimization and estimation procedure require the progressbar module, which will need to installed before running the notebooks.
The AREBO simulation notebook will only run on jupyter notebook and not in jupyter lab.
Note: In order to save space, the folder opt_est and est_data do not contains the data that is generated by the noteboosk. You will need to run all the code in the notebooks for optimization and estimation procedure to generate the data locally.