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


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
Issue number5
StatePublished - Oct 1 2018



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

ASJC Scopus subject areas

  • Mechanical Engineering

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