AssistOn-Wrist: A Parallel Mechanism based Active Exoskeleton for Forearm and Wrist Therapies

AssistOn-Wrist_bilateralAssistOn-Wrist is a parallel mechanism based exoskeleton, specifically tailored for targeted forearm and wrist therapeutic exercises. AssistOn-Wrist features a mechanical structure that is highly compatible with the movement of human forearm and wrist rotations. The performance of the device is optimized to achieve largest  singularity-free workspace volume, while simultaneously  maximizing actuator utilization,  control bandwidth and passive back-driveability of the device. At the local level, AssistOn-Wrist is controlled in SO(3) using Passive Velocity Field Control, while a multilateral teleoperation  controller is used for its bimanual use.