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    This document discusses key design aspects for an exoskeleton including using a single actuator four-bar mechanism with one degree of freedom, revolute joints, and a compact lightweight design with a minimum number of links and joints to provide one angular output.

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    This document discusses key design aspects for an exoskeleton including using a single actuator four-bar mechanism with one degree of freedom, revolute joints, and a compact lightweight design with a minimum number of links and joints to provide one angular output.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    11 views1 page

    Slides 4

    Uploaded by

    mahhelal
    This document discusses key design aspects for an exoskeleton including using a single actuator four-bar mechanism with one degree of freedom, revolute joints, and a compact lightweight design with a minimum number of links and joints to provide one angular output.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
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    Important aspects for exoskeleton design are:

     Number of required angular outputs .


     A one DOF rehabilitation robot.
     Single actuator will be required
     Only revolute joints are used.
     A minimum number of links and joints (compactness and light weight)
     a four-bar mechanism is used as an initial linkage with 1-angular output.

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