Abstract
This study aims to solve problems caused by misalignments between exoskeleton systems and the human body. Misalignments interfere with the achievement of the wearer’s motion intention by generating unintended interaction forces between the wearer and the exoskeleton system. Therefore, this study attempts to overcome this problem by applying an additional degree of freedom (DOF) to the fixation of the human body. First, we analyzed a system of a human body and exoskeleton connected by serial chains. Second, we derived all possible DOF sets for a 7-DOF exoskeleton system and determined the final DOF set based on practical applicability. Finally, we measured the interaction forces generated during the operation of the exoskeleton system to verify the effects of the fixation mechanism. The significance of the results was confirmed by a t test with a significance level of p ≤ 0.05.
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