A Novel Shoulder Mechanism with a Double Parallelogram Linkage for Upper-Body Exoskeletons

被引：7

作者：

Christensen, Simon ^{[1
]}

Bai, Shaoping ^{[1
]}

机构：

[1] Aalborg Univ, Dept Mech & Mfg Engn, DK-9220 Aalborg, Denmark

来源：

WEARABLE ROBOTICS: CHALLENGES AND TRENDS | 2017年 / 16卷

关键词：

D O I：

10.1007/978-3-319-46532-6_9

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

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, 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.

引用

页码：51 / 56

页数：6

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