Design and performance analysis of a 3-RRR spherical parallel manipulator for hip exoskeleton applications
Open Access
- 1 January 2017
- journal article
- Published by SAGE Publications in Journal of Rehabilitation and Assistive Technologies Engineering
Abstract
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.Keywords
Funding Information
- Natural Science and Engineering Research Council (R125467)
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