A New Parallel Actuated Architecture for Exoskeleton Applications Involving Multiple Degree-of-Freedom Biological Joints
A New Parallel Actuated Architecture for Exoskeleton Applications Involving Multiple Degree-of-Freedom Biological Joints
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DOI：
10.1115/1.4040701
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发表时间：
2018-10-01
影响因子：
2.6
通讯作者：
Lee, Hyunglae
中科院分区：
文献类型：
--
作者：
Hunt, Justin;Lee, Hyunglae
这项工作的目的是引入一种新的并行驱动外骨骼架构，可用于多自由度（DoF）生物关节。这样做是为了提供比串行驱动更好的增强这些关节的替代方案。新设计可以描述为一种球形并联机械手 (SPM)，它利用三个 4 杆子结构来解耦和控制三个旋转自由度。这项工作提出了 4 杆球形并联机械手 (4B-SPM) 的四种变体。其中包括肩部、髋部、腕部和脚踝外骨骼。还讨论了 4B-SPM 的三种不同驱动方法，可以根据动态性能要求来实施。这项工作可以帮助推动下一代并行驱动外骨骼的发展，这些外骨骼比当代串行驱动外骨骼更有效。
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.