A Novel Shoulder Mechanism with a Double Parallelogram Linkage for Upper-Body Exoskeletons

  • Simon ChristensenEmail author
  • Shaoping Bai
Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 16)


The design of an innovative spherical mechanism with three degrees of freedom for a shoulder joint exoskeleton is presented in this paper. The spherical mechanism is designed with a double parallelogram linkage, which connects two revolute joints to implement the motion as a spherical joint, while maintaining the remote center of rotation. The design has several new features compared to the current state-of-the-art: (1) a relative large range of motion free of singularity, (2) high overall stiffness, (3) lightweight and (4) compact, which make it suitable for assistive exoskeletons.


Revolute Joint Rigid Design Inverse Kinematic Problem Singular Configuration Harmonic Drive 
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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  1. 1.Department of Mechanical and Manufacturing EngineeringAalborg UniversityAalborgDenmark

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