Robotics: Science and Systems VI
On the kinematic design of exoskeletons and their fixations with a human member
N. Jarrasse and G. MorelAbstract:
A crucial problem in developing robotic exoskeletons
lies in the design of physical connexions between the device
and the human limb it is connected to. Indeed, because in general
the human limb kinematics and the exoskeleton kinematics
differ, using an embedment at each connection point leads to
hyperstaticity. Therefore, uncontrollable forces can appear at the
interaction port. To cope with this problem, literature suggests to
add passive mechanisms at the fixation points. However, empirical
solutions proposed so far suffer from a lack of proper analysis
and generality.
In this paper, the general problem of connecting two similar
kinematic chains through multiple passive mechanisms is studied.
A constructive method that allows to determine all the
possible repartitions of freed DoFs across the different fixation
mechanisms is derived. It includes formal proofs of global
isostaticity. Practical usefulness is illustrated through an example
with conclusive experimental results.
Bibtex:
@INPROCEEDINGS{ Jarrasse-RSS-10, AUTHOR = {N. Jarrasse AND G. Morel}, TITLE = {On the kinematic design of exoskeletons and their fixations with a human member}, BOOKTITLE = {Proceedings of Robotics: Science and Systems}, YEAR = {2010}, ADDRESS = {Zaragoza, Spain}, MONTH = {June}, DOI = {10.15607/RSS.2010.VI.015} }