Active Ankle - an Almost-Spherical Parallel Mechanism

Marc Simnofske, Shivesh Kumar, Bertold Bongardt, Frank Kirchner

In: 47th International Symposium on Robotics (ISR 2016). International Symposium on Robotics (ISR) June 21-22 Munich Germany Pages 37-42 VDE Verlag 6/2016.


Since parallel manipulators only provide restricted workspaces in comparison to their serial counterparts they cannot compete as versatile multi-purpose tools in flexible industrial set-ups. However, their superior properties in terms of stiffness, payload, speed, and acceleration often allow an advantageous application in more tailored use-cases. This paper lays out the concept of a novel parallel mechanism - called the Active Ankle - which operates in an almost-spherical manner with three degrees of freedom. The text motivates the primarily intended application of the novel device as an ankle joint of a full-body exoskeleton. In addition, the paper discusses the design, the topology, results of a motion simulation, and a comparison with related mechanisms of the Active Ankle.


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Active_Ankle_ISR_2016.pdf (pdf, 5 MB )

German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz