Novel Design of a Three Degrees of Freedom Hip Exoskeleton Based on Biomimetic Parallel Structure

the novel design of a three-degree of freedom (DOF) parallel robotic structured hip exoskeleton is introduced in this research. An exoskeleton for walking typically is developed as an auxiliary mechanism which is used for the entire leg. This paper presents a biomimetic parallel manipulator which is only for the hip. An exhaustive mobility analysis and inverse kinematic solutions are derived in closed form, and the Jacobian matrix is derived analytically based on a primary prototype. These kinematic analyses verified the structure of the CAD design.