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SPHERICAL PARALLEL MANIPULATOR ARCHITECTURE FOR SHOULDER ROBOTIC EXOSKELETON
SPHERICAL PARALLEL MANIPULATOR ARCHITECTURE FOR SHOULDER ROBOTIC EXOSKELETON
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机译:肩部机器人外骨骼的球面并联操纵器结构
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摘要
Implementations described and claimed herein involve a shoulder exoskeleton having a spherical parallel manipulator with a plurality of parallel linear actuators connected to a base coupled to a user's arm. A passive slip mechanism is operatively coupled to the spherical parallel manipulator as well as being coupled to the user's arm. The slip mechanism increases system mobility and prevents joint misalignment caused by the translational motion of the user's glenohumeral joint from introducing mechanical interference.
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