Configuration Synthesis of Weakly Coupled Parallel Hip Exoskeletons With Large Workspace

Abstract

To address the issues of strong motion coupling, high control difficulty, and insufficient degrees-of-freedom (DoFs) in existing bio-syncretic parallel hip exoskeletons, a design scheme characterized by weak coupling is proposed. A configuration synthesis method for weakly coupled parallel hip exoskeletons is introduced by deriving the conditions that the transmission wrench screws (TWSs) in each limb must satisfy. Furthermore, to tackle the problem of limited workspace in parallel hip exoskeletons, a design method aimed at increasing the operational workspace is presented. By applying the proposed methods to the configuration synthesis of the hip exoskeleton, several weakly coupled configurations with expanded workspaces are generated. Finally, the correctness and effectiveness of the proposed methods are validated through case analyses.