The shoulder complex is the most complex joint in human's four limbs and this poses a big challenge in the exoskeleton design to achieve a mechanism able to generate the desired motion while structurally complying with human anatomy. This chapter presents a novel design of an exoskeleton shoulder mechanism and its control. The new design is a hybrid mechanism that consists of two revolute joints connected together via a double parallelogram linkage (DPL). By virtue of a DPL, a remote center of rotation can be established for a spherical mechanism with threedegree-of-rotations. In the chapter, the working principle of the shoulder mechanism is described. The kinematics of the mechanism is analyzed. Mechanism design and exoskeleton control are also presented.
Design and control of spherical shoulder exoskeletons for assistive applications, Page 1 of 2
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