Design and control of spherical shoulder exoskeletons for assistive applications

Design and control of spherical shoulder exoskeletons for assistive applications

For access to this article, please select a purchase option:

Buy chapter PDF
(plus tax if applicable)
Buy Knowledge Pack
10 chapters for £75.00
(plus taxes if applicable)

IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.

Learn more about IET membership 

Recommend Title Publication to library

You must fill out fields marked with: *

Librarian details
Your details
Why are you recommending this title?
Select reason:
Wearable Exoskeleton Systems: Design, control and applications — Recommend this title to your library

Thank you

Your recommendation has been sent to your librarian.

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.

Chapter Contents:

  • Abstract
  • 5.1 Introduction
  • 5.2 State-of-the-art in shoulder exoskeletons
  • 5.3 Kinematics of spherical shoulder exoskeleton
  • 5.3.1 Planar kinematics of the DPL
  • 5.3.2 Kinematics of the shoulder mechanism
  • 5.4 Shoulder mechanism design
  • 5.5 Control strategies of exoskeleton shoulders
  • 5.5.1 State-of-the-art exoskeleton control
  • 5.5.2 Control algorithms
  • 5.5.3 Trajectory-based control
  • 5.5.4 Interaction-based control
  • 5.6 Control of the shoulder mechanism
  • 5.6.1 System description
  • 5.7 Shoulder joint usability test
  • 5.8 Conclusions
  • References

Inspec keywords: biomechanics; dexterous manipulators; motion control; patient rehabilitation; couplings; medical robotics; manipulator kinematics; robot kinematics

Other keywords: mechanism design; complex joint; assistive applications; DPL; threedegree-of-rotations; desired motion; exoskeleton control; spherical mechanism; double parallelogram linkage; spherical shoulder exoskeletons; shoulder complex; exoskeleton design; revolute joints; human anatomy; big challenge; hybrid mechanism; exoskeleton shoulder mechanism; chapter

Subjects: Manipulators; Robotics; Spatial variables control; Biological and medical control systems; Robot and manipulator mechanics

Preview this chapter:
Zoom in

Design and control of spherical shoulder exoskeletons for assistive applications, Page 1 of 2

| /docserver/preview/fulltext/books/ce/pbce108e/PBCE108E_ch5-1.gif /docserver/preview/fulltext/books/ce/pbce108e/PBCE108E_ch5-2.gif

Related content

This is a required field
Please enter a valid email address