Title :
A parallel mechanism used on human hip joint power assist
Author :
Yu, Yong ; Liang, Wenyuan ; Ge, Yunjian
Author_Institution :
Dept. of Mech. Eng., Kagoshima Univ., Kagoshima, Japan
Abstract :
In this paper, a 3-DOF parallel mechanism which is wearable for human hip joint power assist is proposed. Different from the conventional power assist system, the proposed wearable parallel mechanism is formed by both mechanical links/joints and human bones/joints. Considering the anatomical mechanism of human hip joint, the 3-DOF wearable system consists of two connected modules, the 3-DOF hip joint and 6-DOF parallel mechanism. Based on the analysis the direct kinematic Jacobian of the parallel mechanism, such a bio-mechanism design makes the assist system always kinematically adapt to human hip joint anatomical structure. It could be used for human thigh movement assisting, rehabilitation and movement information acquiring.
Keywords :
Jacobian matrices; biomechanics; medical robotics; patient rehabilitation; robot kinematics; 3-DOF hip joint; 3-DOF wearable parallel mechanism; 6-DOF parallel mechanism; bio-mechanism design; direct kinematic Jacobian; end-effector orientation; human bones; human hip joint power assist; human joints; human thigh movement; human thigh rehabilitation; mechanical joints; mechanical links; power assist robot; Hip; Humans; Jacobian matrices; Joints; Kinematics; Orbital robotics; Parallel robots; Rehabilitation robotics; Robot sensing systems; Service robots; Bio-mechanism; Parallel mechanism; Power assist robot;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
DOI :
10.1109/ROBIO.2009.5420740
