Novel design of a three degrees of freedom hip exoskeleton based on biomimetic parallel structure

Min Pan; Dan Zhang; Zhen Gao

doi:10.1109/CSAE.2011.5953292

Novel design of a three degrees of freedom hip exoskeleton based on biomimetic parallel structure

Min Pan, Dan Zhang, Zhen Gao

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

4 Citations (Scopus)

Abstract

The novel design of a three-degree of freedom (DOF) parallel robotic structured hip exoskeleton is introduced in this research. An exoskeleton for walking typically is developed as an auxiliary mechanism which is used for the entire leg. This paper presents a biomimetic parallel manipulator which is only for the hip. An exhaustive mobility analysis and inverse kinematic solutions are derived in closed form, and the Jacobian matrix is derived analytically based on a primary prototype. These kinematic analyses verified the structure of the CAD design.

Original language	English
Title of host publication	Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011
Pages	601-605
Number of pages	5
DOIs	https://doi.org/10.1109/CSAE.2011.5953292
Publication status	Published - 2011
Externally published	Yes
Event	2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011 - Shanghai, China Duration: 10 Jun 2011 → 12 Jun 2011

Publication series

Name	Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011
Volume	1

Conference

Conference	2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011
Country/Territory	China
City	Shanghai
Period	10/06/11 → 12/06/11

Keywords

exoskeleton
FEA
kinematic modeling
parallel mechanisms

ASJC Scopus subject areas

Computer Science (miscellaneous)
Control and Systems Engineering

More information

10.1109/CSAE.2011.5953292

Cite this

Pan, M., Zhang, D., & Gao, Z. (2011). Novel design of a three degrees of freedom hip exoskeleton based on biomimetic parallel structure. In Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011 (pp. 601-605). Article 5953292 (Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011; Vol. 1). https://doi.org/10.1109/CSAE.2011.5953292

Pan, Min ; Zhang, Dan ; Gao, Zhen. / Novel design of a three degrees of freedom hip exoskeleton based on biomimetic parallel structure. Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011. 2011. pp. 601-605 (Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011).

@inproceedings{739dfea0ce4e4808952c005e84485f6b,

title = "Novel design of a three degrees of freedom hip exoskeleton based on biomimetic parallel structure",

abstract = "The novel design of a three-degree of freedom (DOF) parallel robotic structured hip exoskeleton is introduced in this research. An exoskeleton for walking typically is developed as an auxiliary mechanism which is used for the entire leg. This paper presents a biomimetic parallel manipulator which is only for the hip. An exhaustive mobility analysis and inverse kinematic solutions are derived in closed form, and the Jacobian matrix is derived analytically based on a primary prototype. These kinematic analyses verified the structure of the CAD design.",

keywords = "exoskeleton, FEA, kinematic modeling, parallel mechanisms",

author = "Min Pan and Dan Zhang and Zhen Gao",

year = "2011",

doi = "10.1109/CSAE.2011.5953292",

language = "English",

isbn = "9781424487257",

series = "Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011",

pages = "601--605",

booktitle = "Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011",

note = "2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011 ; Conference date: 10-06-2011 Through 12-06-2011",

}

Pan, M, Zhang, D & Gao, Z 2011, Novel design of a three degrees of freedom hip exoskeleton based on biomimetic parallel structure. in Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011., 5953292, Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011, vol. 1, pp. 601-605, 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011, Shanghai, China, 10/06/11. https://doi.org/10.1109/CSAE.2011.5953292

Novel design of a three degrees of freedom hip exoskeleton based on biomimetic parallel structure. / Pan, Min; Zhang, Dan; Gao, Zhen.
Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011. 2011. p. 601-605 5953292 (Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011; Vol. 1).

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

TY - GEN

T1 - Novel design of a three degrees of freedom hip exoskeleton based on biomimetic parallel structure

AU - Pan, Min

AU - Zhang, Dan

AU - Gao, Zhen

PY - 2011

Y1 - 2011

N2 - The novel design of a three-degree of freedom (DOF) parallel robotic structured hip exoskeleton is introduced in this research. An exoskeleton for walking typically is developed as an auxiliary mechanism which is used for the entire leg. This paper presents a biomimetic parallel manipulator which is only for the hip. An exhaustive mobility analysis and inverse kinematic solutions are derived in closed form, and the Jacobian matrix is derived analytically based on a primary prototype. These kinematic analyses verified the structure of the CAD design.

AB - The novel design of a three-degree of freedom (DOF) parallel robotic structured hip exoskeleton is introduced in this research. An exoskeleton for walking typically is developed as an auxiliary mechanism which is used for the entire leg. This paper presents a biomimetic parallel manipulator which is only for the hip. An exhaustive mobility analysis and inverse kinematic solutions are derived in closed form, and the Jacobian matrix is derived analytically based on a primary prototype. These kinematic analyses verified the structure of the CAD design.

KW - exoskeleton

KW - FEA

KW - kinematic modeling

KW - parallel mechanisms

UR - http://www.scopus.com/inward/record.url?scp=80051909384&partnerID=8YFLogxK

U2 - 10.1109/CSAE.2011.5953292

DO - 10.1109/CSAE.2011.5953292

M3 - Conference article published in proceeding or book

AN - SCOPUS:80051909384

SN - 9781424487257

T3 - Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011

SP - 601

EP - 605

BT - Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011

T2 - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011

Y2 - 10 June 2011 through 12 June 2011

ER -

Pan M, Zhang D, Gao Z. Novel design of a three degrees of freedom hip exoskeleton based on biomimetic parallel structure. In Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011. 2011. p. 601-605. 5953292. (Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011). doi: 10.1109/CSAE.2011.5953292

Novel design of a three degrees of freedom hip exoskeleton based on biomimetic parallel structure

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

More information

Other files and links

Fingerprint

Cite this