Analysis of a Novel Design of a Three-Degree of Freedom Hip Exoskeleton Based on Biomimetic Parallel Structure

摘要

This research develops and analyzes a new three degree of freedom parallel robotic structured hip exoskeleton. Compared with a typical exoskeleton designed as a serial mechanism for the entire leg or entire body, the parallel mechanism is a structure only for the hip. The parallel manipulator is more stable, stronger and provides more accurate movement than existing manipulators. A kinematic analysis is performed and an exhaustive mobility analysis and inverse kinematic solution are derived in closed form.