A compact 3-DOF shoulder mechanism constructed with scissors linkages for exoskeleton applications

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Resumé

A novel 3-degrees-of-freedom (DOF) spherical mechanism, singularity-free in the anatomical shoulder joint workspace, is described. The use of curved scissors linkages interconnected by revolute joints, whose axes share the same remote centre-of-motion, achieves the most compact design of its kind. The kinematics of this scissors shoulder mechanism (SSM) are derived and presented. A design equation restricting the linkage’s curvature by the central/pitch angle of the fully stretched scissors is obtained. Motion-captured data are used for validating the reachable 3-d workspace while a test-subject is wearing a null protraction/retraction constrained exoskeleton. The embodiment of the SSM as a shoulder joint for an exoskeleton device does not compromise the upper extremity function within the anatomical reachable 3-d workspace. It operates within a volume of 0.236 m3, corresponding to 68.09% and 94.97% of the volumes of the full active (0.350 m3) and null protraction/retraction constrained active (0.223 m3) reachable workspaces of the test-subject, respectively. Thus, the SSM represents a simplification of a spatial spherical mechanism design and overcomes the need for the use of redundant links and optimization routines.
OriginalsprogEngelsk
TidsskriftMechanism and Machine Theory
Vol/bind132
Sider (fra-til)264-278
ISSN0094-114X
DOI
StatusUdgivet - 2019

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@article{e6659eba46c740d7ad345c2dd081c325,
title = "A compact 3-DOF shoulder mechanism constructed with scissors linkages for exoskeleton applications",
abstract = "A novel 3-degrees-of-freedom (DOF) spherical mechanism, singularity-free in the anatomical shoulder joint workspace, is described. The use of curved scissors linkages interconnected by revolute joints, whose axes share the same remote centre-of-motion, achieves the most compact design of its kind. The kinematics of this scissors shoulder mechanism (SSM) are derived and presented. A design equation restricting the linkage’s curvature by the central/pitch angle of the fully stretched scissors is obtained. Motion-captured data are used for validating the reachable 3-d workspace while a test-subject is wearing a null protraction/retraction constrained exoskeleton. The embodiment of the SSM as a shoulder joint for an exoskeleton device does not compromise the upper extremity function within the anatomical reachable 3-d workspace. It operates within a volume of 0.236 m3, corresponding to 68.09{\%} and 94.97{\%} of the volumes of the full active (0.350 m3) and null protraction/retraction constrained active (0.223 m3) reachable workspaces of the test-subject, respectively. Thus, the SSM represents a simplification of a spatial spherical mechanism design and overcomes the need for the use of redundant links and optimization routines.",
author = "Castro, {Miguel Nobre} and John Rasmussen and Andersen, {Michael Skipper} and Shaoping Bai",
year = "2019",
doi = "10.1016/j.mechmachtheory.2018.11.007",
language = "English",
volume = "132",
pages = "264--278",
journal = "Mechanism and Machine Theory",
issn = "0094-114X",
publisher = "Pergamon Press",

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TY - JOUR

T1 - A compact 3-DOF shoulder mechanism constructed with scissors linkages for exoskeleton applications

AU - Castro, Miguel Nobre

AU - Rasmussen, John

AU - Andersen, Michael Skipper

AU - Bai, Shaoping

PY - 2019

Y1 - 2019

N2 - A novel 3-degrees-of-freedom (DOF) spherical mechanism, singularity-free in the anatomical shoulder joint workspace, is described. The use of curved scissors linkages interconnected by revolute joints, whose axes share the same remote centre-of-motion, achieves the most compact design of its kind. The kinematics of this scissors shoulder mechanism (SSM) are derived and presented. A design equation restricting the linkage’s curvature by the central/pitch angle of the fully stretched scissors is obtained. Motion-captured data are used for validating the reachable 3-d workspace while a test-subject is wearing a null protraction/retraction constrained exoskeleton. The embodiment of the SSM as a shoulder joint for an exoskeleton device does not compromise the upper extremity function within the anatomical reachable 3-d workspace. It operates within a volume of 0.236 m3, corresponding to 68.09% and 94.97% of the volumes of the full active (0.350 m3) and null protraction/retraction constrained active (0.223 m3) reachable workspaces of the test-subject, respectively. Thus, the SSM represents a simplification of a spatial spherical mechanism design and overcomes the need for the use of redundant links and optimization routines.

AB - A novel 3-degrees-of-freedom (DOF) spherical mechanism, singularity-free in the anatomical shoulder joint workspace, is described. The use of curved scissors linkages interconnected by revolute joints, whose axes share the same remote centre-of-motion, achieves the most compact design of its kind. The kinematics of this scissors shoulder mechanism (SSM) are derived and presented. A design equation restricting the linkage’s curvature by the central/pitch angle of the fully stretched scissors is obtained. Motion-captured data are used for validating the reachable 3-d workspace while a test-subject is wearing a null protraction/retraction constrained exoskeleton. The embodiment of the SSM as a shoulder joint for an exoskeleton device does not compromise the upper extremity function within the anatomical reachable 3-d workspace. It operates within a volume of 0.236 m3, corresponding to 68.09% and 94.97% of the volumes of the full active (0.350 m3) and null protraction/retraction constrained active (0.223 m3) reachable workspaces of the test-subject, respectively. Thus, the SSM represents a simplification of a spatial spherical mechanism design and overcomes the need for the use of redundant links and optimization routines.

U2 - 10.1016/j.mechmachtheory.2018.11.007

DO - 10.1016/j.mechmachtheory.2018.11.007

M3 - Journal article

VL - 132

SP - 264

EP - 278

JO - Mechanism and Machine Theory

JF - Mechanism and Machine Theory

SN - 0094-114X

ER -