The ankle joint of an exoskeleton plays a vital role in maintaining balance and posture during locomotion by grounding the upper body’s weight. Parallel designs are advantageous for constructing ankle joints in exoskeleton but challenges include complex workspace analysis and finding the optimal placement in the overall structure of the exoskeleton. This paper presents a strategy for finding the optimal placement of the prototype Active Ankle 3[R2[US]] mechanism in the Recupera-Reha lower extremity exoskeleton for enhanced workspace. To this end, rotative inverse geometric model of the Active Ankle is exploited to find the alignment between principle human joint axes and axes along which the range of motion is optimum. It is demonstrated that by rotating the mechanism along the adduction-abduction axis and by selecting appropriate ball and socket joints, it is possible to enhance the usable workspace of the mechanism for the human wearing the exoskeleton.
Finding Optimal Placement of the Almost Spherical Parallel Mechanism in the Recupera-Reha Lower Extremity Exoskeleton for Enhanced Workspace
Mechan. Machine Science
International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022
2022-04-23
9 pages
Article/Chapter (Book)
Electronic Resource
English
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