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An Upper Extremity Exoskeleton Utilizing A Modified Double Parallelogram Linkage Mechanism With Proximally Located Actuators, Connor Bouffard
An Upper Extremity Exoskeleton Utilizing A Modified Double Parallelogram Linkage Mechanism With Proximally Located Actuators, Connor Bouffard
Honors College
The shoulder joint is an extremely complex joint, with a wide range of motion (ROM), which makes designing an upper extremity exoskeleton a complicated task. This thesis presents a 3-degree-of-freedom (DOF) exoskeleton with a modified double parallelogram mechanism (DPM) that fits any wearer independent of their biological frame. The DPM is remarkably useful in wearable robotics. The mechanism creates a remote center of rotation about the shoulder joint while remaining unobtrusive and not colliding with the wearer’s body. Its fixed link lengths, however, requires it to be specially fitted to each individual user. This is inconvenient for most exoskeletons that …