Design of Fixations for an Exoskeleton Device with Joint Axis Misalignments


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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This work was supported by the Industry Core Technology Development Project, 10052967, Development of Integrated Control System in Special Purpose Machinery for the Application for Disaster, funded by the Ministry of Trade, Industry and Energy (MOTIE, Korea).

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Correspondence to Chang-soo Han.

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Lee, B., Lee, S.C. & Han, C. Design of Fixations for an Exoskeleton Device with Joint Axis Misalignments. Int. J. Precis. Eng. Manuf. 21, 1291–1298 (2020).

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  • Exoskeleton
  • Fixation
  • Misalignment
  • Connectivity
  • Degree of freedom