Design and performance analysis of a 3-RRR spherical parallel manipulator for hip exoskeleton applications:

Journal of Rehabilitation and Assistive Technologies Engineering

SoheilSadeqi¹ 

关键词: Hip exoskeleton;    spherical parallel manipulator;    inverse kinematics;    Jacobian;    dexterity;    manipulability;    rotational sensitivity;    experimental data;   

DOI  :  10.1177/2055668317697596

学科分类：工程和技术（综合）

来源: Sage Journals

【 摘 要 】

This paper presents the design and performance analysis and experimental study of a 3-RRR spherical parallel manipulator in the context of hip exoskeleton applications. First, the mechanism’s inverse kinematics analysis and Jacobian matrix development are revisited. Manipulability, dexterity, and rotational sensitivity indices are then evaluated for two different methods of attachment to the human body. The superior attachment method in terms of these performance measures is indicated, and an experimental study based on the selected method is conducted; the experiment involves testing the capability of a 3-RRR manipulator’s end-effector in tracking the motions experienced by a human hip joint during normal gait cycles. Finally, the results of the experimental study indicate that the manipulator represents a feasible hip exoskeleton solution providing total kinematic compliance with the human hip joint’s 3-degree-of-freedom motion capabilities.

【 授权许可】

CC BY