A New Parallel Actuated Architecture for Exoskeleton Applications Involving Multiple Degree-of-Freedom Biological Joints

[+] Author and Article Information
Justin P. Hunt

School for Engineering of Matter, Transport, and Energy Arizona State University Tempe AZ, USA 85281

Hyunglae Lee

School for Engineering of Matter, Transport, and Energy Arizona State University Tempe AZ, USA 85281

1Corresponding author.

ASME doi:10.1115/1.4040701 History: Received January 17, 2018; Revised June 25, 2018


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.

Copyright (c) 2018 by ASME
Your Session has timed out. Please sign back in to continue.






Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In