Jacobian analysis for parallel mechanism using on human walking power assisting

In this paper, we focus on the Jacobian analysis of a novel assisting mechanism which is used on human hip joint power assisting. Different from conventional assisting systems, the adopted assisting mechanism is a 3UPS parallel mechanism which can realize assisting all human hip joint´s DOF among mechanical workspace. Parallel mechanism, also known as possessing the merits such as higher precision and higher stiffness, however, is much more complex than serial mechanism. By an effective way of differing the constraint equations, direct parallel kinematical Jacobian denoting the velocity relation between the active joints and end-effector is worked out. By demonstrating some simulation and actual experimental results, this kinematical Jacobian is proved to be applicable to be used on human walking power assisting control.