Structural synthesis of a kinematically compatible industrial shoulder exoskeleton

Research output: Unpublished contribution to conferencePoster


A crucial step in the design of exoskeletons is to ensure kinematic compatibility between the mechanical structure and the human limbs it is supporting. Human anatomy is highly diverse and complex in terms of geometries and kinematics. Human limbs and joints usually have complex anatomical shapes and motions in space (i.e shoulder, hip, spine) that are challenging to reproduce with an exoskeleton. This problem is not straightforward since the solution space has a large amount of possible kinematic combinations and ultimately, the selection of a kinematic structure usually comes down to the expertise/creativity of the designer. Automatic synthesis of wearable devices is a field that can help on providing the designer with an atlas of solutions that can simplify and improve this process greatly. Despite the efforts made so far on this domain, existing methods require unrealistic simplifications (motion of the assisted limb constrained to the sagittal plane, pin-jointed mechanism etc...) to reduce the number of solutions produced by the machine, to a reasonable amount that can be useful for the designer. The objective of this work is to present a new method for the type synthesis of arthrokinematically compatible exoskeletons, that uses graph and linear transformation theory to overcome the limitations of the existing methods. Moreover, it allows for both the inclusion of the human component among the design constraints and the consideration of structural indices related to the exoskeleton structure, e.g. singularity and complexity indices. The results show that the proposed method drastically decreased the amount of symbolic calculation needed to generate arthrokinematically compatible exoskeletons, resulting in a 99% computational complexity reduction in comparison with previous evolutionary morphology methods
Original languageEnglish
Publication statusPublished - 29 Nov 2020
EventBioRob 2020 -
Duration: 29 Nov 2020 → …


WorkshopBioRob 2020
Period29/11/20 → …


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