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research-article

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
jphunt3@asu.edu

Hyunglae Lee

School for Engineering of Matter, Transport, and Energy Arizona State University Tempe AZ, USA 85281
hyunglae.lee@asu.edu

1Corresponding author.

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

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.

Copyright (c) 2018 by ASME
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