In this paper, a 3-DOF parallel mechanism which is wearable for human hip joint power assist is proposed. Different from the conventional power assist system, the proposed wearable parallel mechanism is formed by both mechanical links/joints and human bones/joints. Considering the anatomical mechanism of human hip joint, the 3-DOF wearable system consists of two connected modules, the 3-DOF hip joint and 6-DOF parallel mechanism. Based on the analysis the direct kinematic Jacobian of the parallel mechanism, such a bio-mechanism design makes the assist system always kinematically adapt to human hip joint anatomical structure. It could be used for human thigh movement assisting, rehabilitation and movement information acquiring.
['Yong Yu', 'Wenyuan Liang', 'Yunjian Ge']
A parallel mechanism used on human hip joint power assist