Compact Spherical 3-DOF Mechanism Constructed With Scissor Linkages

The novel compact spherical joint uses spatial scissor mechanism based linkages, allowing for the design of very compact linkages and joints. The mechanism is characterized by:
• Scalability and Compactness of the joint minimizing the need for space around a center of motion, and the
• High degree-of-freedom to design the joint to fit a specific purpose ( including the size of a person, when used in exoskeletons), compared
to other known joints, as the curvature and size of individual linkages can be optimized for the required movement, securing
• High degree of control and precision, and enabling full range of motion, with three degrees of freedom