Design and Optimization of the Thigh for an Exo-skeleton
based on Parallel Mechanism
by Konstantin Kondak, Bhaskar Dasgupta and Guenter Hommel
Abstract:
A full parallel mechanism is suggested as a base construction for
an exoskeleton to implement complex movement of body parts of the
human relative to each other. The optimal design of such a structure
for a thigh is presented. The positions of the connection points of
the linear actuators to the moving platform were chosen as design
parameters. The calculation of these design parameters was performed
numericaly. The results show that the designed parallel mechanism
allows arbitrary motion of the thigh in a workspace of the mechanism
which is large enough not only for walking but also for more complex
movements like sitting down on a chair and standing up.