A parallel mechanism used on human hip joint power assist

Author

Yu, Yong ; Liang, Wenyuan ; Ge, Yunjian

Author_Institution

Dept. of Mech. Eng., Kagoshima Univ., Kagoshima, Japan

fYear

2009

Firstpage

1007

Lastpage

1012

Abstract

In this paper, a 3-DOF parallel mechanism which is wearable for human hip joint power assist is proposed. Different from the conventional power assist system, the proposed wearable parallel mechanism is formed by both mechanical links/joints and human bones/joints. Considering the anatomical mechanism of human hip joint, the 3-DOF wearable system consists of two connected modules, the 3-DOF hip joint and 6-DOF parallel mechanism. Based on the analysis the direct kinematic Jacobian of the parallel mechanism, such a bio-mechanism design makes the assist system always kinematically adapt to human hip joint anatomical structure. It could be used for human thigh movement assisting, rehabilitation and movement information acquiring.

Keywords

Jacobian matrices; biomechanics; medical robotics; patient rehabilitation; robot kinematics; 3-DOF hip joint; 3-DOF wearable parallel mechanism; 6-DOF parallel mechanism; bio-mechanism design; direct kinematic Jacobian; end-effector orientation; human bones; human hip joint power assist; human joints; human thigh movement; human thigh rehabilitation; mechanical joints; mechanical links; power assist robot; Hip; Humans; Jacobian matrices; Joints; Kinematics; Orbital robotics; Parallel robots; Rehabilitation robotics; Robot sensing systems; Service robots; Bio-mechanism; Parallel mechanism; Power assist robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on

Conference_Location

Guilin

Print_ISBN

978-1-4244-4774-9

Electronic_ISBN

978-1-4244-4775-6

Type

conf

DOI

10.1109/ROBIO.2009.5420740

Filename

5420740