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.

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