Self-alignment mechanisms for exoskeletons alleviate critical issues arising from misalignment between exoskeleton and human joints. In this paper we present a method for kinematic synthesis of a passive mechanism for aligning joint axes of exoskeletons with human anatomical joint axes. Planar parallel manipulators are known for their inherent stiffness and compactness; we propose a novel parallel manipulator design to achieve self-alignment. The base platform of the parallel manipulator is attached to the human arm and the moving platform is attached to the exoskeleton. Three PRR chains connect the base and moving platforms. An optimal design problem is formulated to find the smallest manipulator that spans the specified workspace, which represents the possible area of misalignment.
- Design Engineering Division
- Computers and Information in Engineering Division
Design of Passive 3-PRR Planar Parallel Manipulators for Self-Alignment of Exoskeleton Axes
Ghosh, S, & Gan, D. "Design of Passive 3-PRR Planar Parallel Manipulators for Self-Alignment of Exoskeleton Axes." Proceedings of the ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 5B: 40th Mechanisms and Robotics Conference. Charlotte, North Carolina, USA. August 21–24, 2016. V05BT07A042. ASME. https://doi.org/10.1115/DETC2016-59821
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