Abstract
To develop a wrist robotic exoskeleton-type interface (REI) for force interaction, it should have a suitable range of motion similar to human wrist activities of daily living, large torque output performance, and low moving parts inertia for dynamic motion response to cover the human behavior frequency. In this paper, a wrist REI based on a fully actuated coaxial spherical parallel mechanism (CSPM) is proposed to satisfy the aforementioned features. The fully actuated CSPM-based wrist REI (FC-WREI) has the characteristics of pure rotation similar to the human wrist, high torque output by parallel torque synthesis, and low moving parts inertia due to the base arrangement of the actuators. Due to the mechanical advantages and design optimization, the FC-WREI maximally provides torque as much as 56.49–130.43% of the maximum isometric torque of the human wrist, while providing a consistent range of motion to the human wrist without interference problem. Moreover, it is confirmed that the inertia of the FC-WREI is up to 5.35 times lower than similar devices. These advantages of the FC-WREI mean that the device is applicable to various fields of REIs for force interaction.
Highlights
One of the prominent areas of robotics is the concept of a robotic interface with physical interaction
These advantages of the fully actuated CSPM-based wrist REI (FC-WREI) are suitable for developing the force interacting wrist robotic exoskeleton-type interface (REI) that can be applied to various devices for haptic, rehabilitation, exercise, tele-operation, and so on
The results present the feasibility of torque amplification, which is the feature present the feasibility of torque amplification, which is the feature of the FC-WREI
Summary
One of the prominent areas of robotics is the concept of a robotic interface with physical interaction. The FC-WREI inherits the advantages of the previous device as the followings [21,22,23]: pure rotational DOF without translation, wide ROM with unlimited rotation to the specific axis, and torque amplification in terms of the parallel torque synthesis. This design makes the FC-WREI have low moving parts inertia, which is advantageous for high dynamic motion response and efficiency on torque amplification These advantages of the FC-WREI are suitable for developing the force interacting wrist REIs that can be applied to various devices for haptic, rehabilitation, exercise, tele-operation, and so on.
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