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Design of a Parallel Architecture Robotic Spine Exoskeleton With Series Elastic Actuators

[+] Author Affiliations
Chawin Ophaswongse, Rosemarie C. Murray, Sunil K. Agrawal

Columbia University, New York, NY

Paper No. DETC2017-67842, pp. V05AT08A065; 9 pages
  • ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 41st Mechanisms and Robotics Conference
  • Cleveland, Ohio, USA, August 6–9, 2017
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5817-2
  • Copyright © 2017 by ASME


This paper proposes a novel methodology for the design of series elastic actuators in parallel-actuated platforms which have full six degrees-of-freedom in position and orientation. Series elastic actuators can potentially contribute to lower power consumption and provide a better human-machine interface for the user. This is an important consideration in the use of a robotic spine exoskeleton for human subjects, which motivates this work. In the study of parallel-actuated systems with full six degrees-of-freedom, the effect of compliance in series with actuators has not been adequately studied from the perspective of kinematics and wrench capabilities. These analyses are performed in this paper with the goal to improve the design of the robotic spine exoskeleton (ROSE) and its human usage.

Copyright © 2017 by ASME



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