Automatic synthesis of arthrokinematically compatible exoskeletons. A case study on its application on a shoulder occupational exoskeleton

Marco Rossini,Joost Geeroms,Dirk Lefeber,Carlos Rodriguez-Guerrero

Mechanism and Machine Theory（2021）

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摘要

•The kinematic synthesis of a new fully compatible shoulder exoskeleton is presented.•A new automatic synthesis method has been developed to improve the design process.•Spatial kinematic chains compatible with the anatomy of the shoulder are enumerated.

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关键词

Wearable robots,Occupational shoulder exoskeleton,Evolutionary morphology,Graph theory

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