A novel shoulder mechanism with a double parallelogram linkage for upper-body exoskeletons
S Christensen, S Bai - Wearable Robotics: Challenges and Trends, 2017 - Springer
The design of an innovative spherical mechanism with three degrees of freedom for a
shoulder joint exoskeleton is presented in this paper. The spherical mechanism is designed
with a double parallelogram linkage, which connects two revolute joints to implement the
motion as a spherical joint, while maintaining the remote center of rotation. The design has
several new features compared to the current state-of-the-art:(1) a relative large range of
motion free of singularity,(2) high overall stiffness,(3) lightweight and (4) compact, which …
shoulder joint exoskeleton is presented in this paper. The spherical mechanism is designed
with a double parallelogram linkage, which connects two revolute joints to implement the
motion as a spherical joint, while maintaining the remote center of rotation. The design has
several new features compared to the current state-of-the-art:(1) a relative large range of
motion free of singularity,(2) high overall stiffness,(3) lightweight and (4) compact, which …
