The requirement to solve the problem of Inverse Kinetics (IK) plays a very important role in the robotics field in general, and especially in the field of rehabilitation robots, in particular. If the solutions of this problem are not suitable, it can cause undesirable damage to the patient when exercising. Normally, the problem of Inverse Kinematics in the robotics field, as well as the natural field, especially for redundant driven systems, often requires the application of a lot of techniques. The redundancy in Degree of Freedom (DoF), the nonlinearity of the system leads to solve inverse kinematics problem more challenge. In this study, we proposed to apply the self-adaptive control parameters in Differential Evolution with search space improvement (Pro-ISADE) to solve the problem for the human upper limb, which is a very typical redundancy model in nature. First of all, the angles of the joints were measured by a proposed Exoskeleton type Human Motion Capture System (E-HMCS) when the wearer performs some Activities of Daily Living (ADL) and athletic activities. The values of these measured angles joints then were put into the forward kinematics model to find the end effector trajectories. After having these orbits, they were re-fed into the proposed Pro-ISADE algorithm mentioned above to process the IK problem and obtain the predicted joints angular values. The experimental results showed that the predicted joints’ values closely follow the measured joints’ values. That demonstrates the ability to apply the Pro-ISADE algorithm to solve the problem of Inverse Kinetics of the human upper limb as well as the upper limb rehabilitation robot arm.

解决逆向动力学（IK）问题的要求在一般机器人领域中起着非常重要的作用，尤其是在康复机器人领域。如果此问题的解决方案不合适，则可能在运动时对患者造成不良伤害。通常，机器人领域以及自然领域中的逆运动学问题，尤其是冗余驱动系统，往往需要应用很多技术。自由度 (DoF) 中的冗余、系统的非线性导致求解逆运动学问题更具挑战性。在这项研究中，我们提出将自适应控制参数应用于具有搜索空间改进的差分进化（Pro-ISADE）来解决人类上肢的问题，这是自然界中非常典型的冗余模型。首先，当佩戴者进行一些日常生活活动 (ADL) 和体育活动时，关节的角度是通过建议的外骨骼型人体运动捕捉系统 (E-HMCS) 测量的。然后将这些测量的角度关节的值放入正向运动学模型中以找到末端执行器轨迹。有了这些轨道后，它们被重新输入到上面提到的 Pro-ISADE 算法中来处理 IK 问题并获得预测的关节角度值。实验结果表明，预测的接头值与实测接头的值非常接近。这证明了应用 Pro-ISADE 算法解决人类上肢以及上肢康复机器人手臂的逆动力学问题的能力。