On the Design of the Exoskeleton Arm with Decoupled Dynamics

  • V. ArakelianEmail author
  • Y. Aoustin
  • C. Chevallereau
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 39)


This paper focuses on the design of a 2-DOF exoskeleton arm with decoupled dynamics. The goal is to simplify the controller design by reducing the effects of complicated manipulator dynamics. The added epicyclic gear train allows the optimal redistribution of kinetic energy, which leads to the linearization and decoupling of the dynamic equations. The determination of the parameters of the added links is based on eliminating coefficients of nonlinear terms in the manipulator’s kinetic and potential energy equations. The suggested design methodology is illustrated by simulations carried out using the software ADAMS.


Exoskeleton arm Multibody system Dynamic equations Decoupling Balancing Epicyclic gear train 



This work is supported by the Pays de la Loire Region, the Project LMA and “Gérontopôle Autonomie Longévité” of the Pays de la Loire Region.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.IRCCyNNantes Cedex 03France
  2. 2.Department of Mechanical and Control Systems EngineeringI.N.S.A. RennesRennesFrance

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