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 Scopus citations

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

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Keywords

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

ASJC Scopus subject areas

  • Mechanical Engineering

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