As wearable mechanisms, exoskeleton

As wearable mechanisms, exoskeletons are highly coupled with limbs, which makes it necessaryto carefully consider the compliances of the human-machine system. In this paper, the compliancesare divided into kinematic, static, and dynamic compliances which should be met simultaneouslyduring design. However, most of the current designs only focused on one of them butignored the other two. This paper proposes planar gravity-balanced exoskeletons with linkagebelthybrid transmissions. Each exoskeleton includes a locating part, an anti-gravity torquegeneration part, and a torque transmission part. The locating part achieves the kinematiccompliance when misalignments between human-machine joints occur, the anti-gravity torquegeneration part realizes the static compliance by balancing the human-machine system, and thetorque transmission meets the dynamic compliance by placing the heavy part of the mechanism atthe proximal end to reduce the distal inertia, thereby achieving comprehensive wearability.