Structure design and analysis of compliant human-machine interface mechanism for exoskeletons

Due to the difference between kinematics of human joints and exoskeleton joints, joint misalignment may be brought about by human-machine interface (HMI). Joint misalignment may lead to undesired interaction forces, if not copped with properly, e.g. in the HMI mechanism with straps. In this paper, firstly the interaction forces caused by joint misalignment in HMI mechanism with straps are studied. Then, a compliant HMI mechanism which consists of passive mechanical linkages is presented and Degrees of Freedom (DOFs) of the whole human-machine system are analyzed. A simulation model of human-machine system is established for analyzing the interaction forces in the compliant HMI mechanism. Finally, comparative results were obtained to demonstrate that the constraint forces can be decreased greatly with sufficient driving forces simultaneously by using of the compliant HMI mechanism.

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