Optimizing the Rigid or Compliant Behavior of a Novel Parallel-Actuated Architecture for Exoskeleton Robot Applications.

ABSTRACT: The purpose of this work is to optimize the rigid or compliant behavior of a new type of parallel-actuated robot architecture developed for exoskeleton robot applications. This is done in an effort to provide those that utilize the architecture with the means to maximize, minimize, or simply adjust its stiffness property so as to optimize it for particular tasks, such as augmented lifting or impact absorption. This research even provides the means to produce non-homogeneous stiffness properties for applications that may require non-homogeneous dynamic behavior. In this work, the new architecture is demonstrated in the form of a shoulder exoskeleton. An analytical stiffness model for the shoulder exoskeleton is created and validated experimentally. The model is then used, along with a metho

SUBMITTER: Hunt J 

PROVIDER: S-EPMC7941672 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature