Title :
Analysis of a Novel Design of a Three-Degree of Freedom Hip Exoskeleton Based on Biomimetic Parallel Structure
Author :
Pan, Min ; Zhang, Dan
Author_Institution :
Fac. of Eng. & Appl. Sci., Univ. of Ontario Inst. of Technol., Oshawa, ON, Canada
Abstract :
This research develops and analyzes a new three degree of freedom parallel robotic structured hip exoskeleton. Compared with a typical exoskeleton designed as a serial mechanism for the entire leg or entire body, the parallel mechanism is a structure only for the hip. The parallel manipulator is more stable, stronger and provides more accurate movement than existing manipulators. A kinematic analysis is performed and an exhaustive mobility analysis and inverse kinematic solution are derived in closed form.
Keywords :
biomimetics; design engineering; humanoid robots; manipulator kinematics; mobile robots; biomimetic parallel robotic structure; design; exhaustive mobility analysis; inverse kinematic solution; manipulator kinematic analysis; parallel manipulator; three-degree-of-freedom hip exoskeleton; Exoskeletons; Hip; Joints; Kinematics; Manipulators; Vectors; CAD; PUU; Stiffness analysis; deformation; inverse kinematics; three degrees of freedom;
Conference_Titel :
Robot, Vision and Signal Processing (RVSP), 2011 First International Conference on
Conference_Location :
Kaohsiung
Print_ISBN :
978-1-4577-1881-6
DOI :
10.1109/RVSP.2011.84
