A new parallel actuated architecture for exoskeleton applications involving multiple degree-of-freedom biological joints

Justin Hunt, Hyunglae Lee

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

The purpose of this work is to introduce a new parallel actuated exoskeleton architecture that can be used for multiple degree-of-freedom (DoF) biological joints. This is done in an effort to provide a better alternative for the augmentation of these joints than serial actuation. The new design can be described as a type of spherical parallel manipulator (SPM) that utilizes three 4 bar substructures to decouple and control three rotational DoFs. Four variations of the 4 bar spherical parallel manipulator (4B-SPM) are presented in this work. These include a shoulder, hip, wrist, and ankle exoskeleton. Also discussed are three different methods of actuation for the 4B-SPM, which can be implemented depending on dynamic performance requirements. This work could assist in the advancement of a future generation of parallel actuated exoskeletons that are more effective than their contemporary serial actuated counterparts.

Original languageEnglish (US)
Article number051017
JournalJournal of Mechanisms and Robotics
Volume10
Issue number5
DOIs
StatePublished - Oct 1 2018

Fingerprint

Manipulators

Keywords

  • Ankle exoskeleton
  • Exoskeleton robotics
  • Hip exoskeleton
  • Parallel actuation
  • Parallel mechanism
  • Shoulder exoskeleton
  • Wrist exoskeleton

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

@article{46df70019bf541768a8d1da4d48eeda2,
title = "A new parallel actuated architecture for exoskeleton applications involving multiple degree-of-freedom biological joints",
abstract = "The purpose of this work is to introduce a new parallel actuated exoskeleton architecture that can be used for multiple degree-of-freedom (DoF) biological joints. This is done in an effort to provide a better alternative for the augmentation of these joints than serial actuation. The new design can be described as a type of spherical parallel manipulator (SPM) that utilizes three 4 bar substructures to decouple and control three rotational DoFs. Four variations of the 4 bar spherical parallel manipulator (4B-SPM) are presented in this work. These include a shoulder, hip, wrist, and ankle exoskeleton. Also discussed are three different methods of actuation for the 4B-SPM, which can be implemented depending on dynamic performance requirements. This work could assist in the advancement of a future generation of parallel actuated exoskeletons that are more effective than their contemporary serial actuated counterparts.",
keywords = "Ankle exoskeleton, Exoskeleton robotics, Hip exoskeleton, Parallel actuation, Parallel mechanism, Shoulder exoskeleton, Wrist exoskeleton",
author = "Justin Hunt and Hyunglae Lee",
year = "2018",
month = "10",
day = "1",
doi = "10.1115/1.4040701",
language = "English (US)",
volume = "10",
journal = "Journal of Mechanisms and Robotics",
issn = "1942-4302",
publisher = "American Society of Mechanical Engineers(ASME)",
number = "5",

}

TY - JOUR

T1 - A new parallel actuated architecture for exoskeleton applications involving multiple degree-of-freedom biological joints

AU - Hunt, Justin

AU - Lee, Hyunglae

PY - 2018/10/1

Y1 - 2018/10/1

N2 - The purpose of this work is to introduce a new parallel actuated exoskeleton architecture that can be used for multiple degree-of-freedom (DoF) biological joints. This is done in an effort to provide a better alternative for the augmentation of these joints than serial actuation. The new design can be described as a type of spherical parallel manipulator (SPM) that utilizes three 4 bar substructures to decouple and control three rotational DoFs. Four variations of the 4 bar spherical parallel manipulator (4B-SPM) are presented in this work. These include a shoulder, hip, wrist, and ankle exoskeleton. Also discussed are three different methods of actuation for the 4B-SPM, which can be implemented depending on dynamic performance requirements. This work could assist in the advancement of a future generation of parallel actuated exoskeletons that are more effective than their contemporary serial actuated counterparts.

AB - The purpose of this work is to introduce a new parallel actuated exoskeleton architecture that can be used for multiple degree-of-freedom (DoF) biological joints. This is done in an effort to provide a better alternative for the augmentation of these joints than serial actuation. The new design can be described as a type of spherical parallel manipulator (SPM) that utilizes three 4 bar substructures to decouple and control three rotational DoFs. Four variations of the 4 bar spherical parallel manipulator (4B-SPM) are presented in this work. These include a shoulder, hip, wrist, and ankle exoskeleton. Also discussed are three different methods of actuation for the 4B-SPM, which can be implemented depending on dynamic performance requirements. This work could assist in the advancement of a future generation of parallel actuated exoskeletons that are more effective than their contemporary serial actuated counterparts.

KW - Ankle exoskeleton

KW - Exoskeleton robotics

KW - Hip exoskeleton

KW - Parallel actuation

KW - Parallel mechanism

KW - Shoulder exoskeleton

KW - Wrist exoskeleton

UR - http://www.scopus.com/inward/record.url?scp=85054931270&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85054931270&partnerID=8YFLogxK

U2 - 10.1115/1.4040701

DO - 10.1115/1.4040701

M3 - Article

AN - SCOPUS:85054931270

VL - 10

JO - Journal of Mechanisms and Robotics

JF - Journal of Mechanisms and Robotics

SN - 1942-4302

IS - 5

M1 - 051017

ER -