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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Finding Optimal Placement of the Almost Spherical Parallel Mechanism in the Recupera-Reha Lower Extremity Exoskeleton for Enhanced Workspace


    Additional title:

    Mechan. Machine Science


    Contributors:

    Conference:

    International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022



    Publication date :

    2022-04-23


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





    Barcelona recupera el travia 33 anos despue

    Fundación de los Ferrocarriles Españoles FFE Santa Isabel, 44 E - 28012 Madrid | IuD Bahn | 2004


    Madrid Puerta de Atocha recupera su historia

    Guerrero, Belén | IuD Bahn | 2012


    The Design of Lower Extremity Exoskeleton of Power Assist Robot

    Yan, Lei ;Wu, Jian ;Li, Yan Bei | Trans Tech Publications | 2013