On the Kinematic Design of Exoskeletons and Their Fixations with a Human Member Nathanäel Jarrasśe

A crucial problem in developing robotic exoskeletons lies in the design of physical connexions between the device and the human limb it is connected to. Indeed, because in general the human limb kinematics and the exoskeleton kinematics differ, using an embedment at each connection point leads to hyperstaticity. Therefore, uncontrollable forces can appear… CONTINUE READING