Kinematic Analysis and Design of a Novel Shoulder Exoskeleton using a Double Parallelogram Linkage

[+] Author and Article Information
Simon Christensen

PhD fellow, Department of Material and Production, Aalborg University, Aalborg 9220, Denmark

Shaoping Bai

Associated Professor, Department of Material and Production, Aalborg University, Aalborg 9220, Denmark

1Corresponding author.

ASME doi:10.1115/1.4040132 History: Received July 03, 2017; Revised April 20, 2018


The design of an innovative spherical mechanism with three degrees of freedom for a shoulder joint exoskeleton is presented in this paper. The spherical mechanism is designed with a double parallelogram linkage (DPL), which connects two revolute joints to implement the motion as a spherical joint, while maintaining the remote center of rotation. The design has several new features compared to the current state-of-the-art: (1) a relative large range of motion free of singularity, (2) high overall stiffness, (3) lightweight and (4) compact, which make it suitable for assistive exoskeletons. In this paper, the kinematics and singularities are analyzed for the spherical mechanism and double parallelogram linkage. Dimensional analysis is carried out to find the design with maximum range of motion. The new shoulder joint is finally designed, constructed and integrated in a four degree of freedom wearable upperbody exoskeleton. A FEM analysis study is used to assess the structural stiffness of the proposed design in comparison to the conventional 3R mechanism.

Copyright (c) 2018 by ASME
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