This thesis presents a mechanical system design of a haptic cobot exoske-leton for use in physical therapy rehabilitation. The exoskeleton will be the first exoskeleton to offer cobot technology in a wearable haptic device. This exoskeleton provides a significant improvement in existing haptic exoskeleton technology by providing high performance haptic feedback while maximizing the user’s safety. An overall system and subsystem design is presented; which includes a spherical 3RRR mechanism for the shoulder. A detailed design of the shoulder mechanism is presented in five parts: a range of motion study, the kinematic parameters, the kinematics, kinematic optimization and a collision study. The range of motion study is based anatomical data collected using a Flock of Birds motion capture device. The design process for optimization of the shoulder mechanism is presented in which the shoulder mechanism is optimized by examining the Jacobian matrix with the lowest inverse condition number and global condition index. The result is an practical design of a exoskeleton with a high performance shoulder mechanism that is capable of reaching nearly a quarter of workspace developed by the Flock of Birds.

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For a serious scientific interest or rather an amusing desire to be the creator like Pygmalion, human being has kept fascination to create something replicates ourselves as shown in lifelike statues and imaginative descriptions in fairy tales, long time from the ancient days. At the present day, eventually, they are coming out as humanoid robots and their brilliant futures are fore-casted as follows. 1) Humanoid robot will take over boring recurrent jobs and dangerous tasks where some everyday tools and environments designed and optimised for human usage should be exploited without significant modifications. 2) Efforts of developing humanoid robot systems and components will lead some excellent inventions of engineering, product and service. 3) Humanoid robot will be a research tool by itself for simulation, implementation and examination of the human algorithm of motions, behaviours and cognitions with corporeality.

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For a serious scientific interest or rather an amusing desire to be the creator like Pygmalion, human being has kept fascination to create something replicates ourselves as shown in lifelike statues and imaginative descriptions in fairy tales, long time from the ancient days. At the present day, eventually, they are coming out as humanoid robots and their brilliant futures are forecasted as follows. 1) Humanoid robot will take over boring recurrent jobs and dangerous tasks where some everyday tools and environments designed and optimised for human usage should be exploited without significant modifications. 2) Efforts of developing humanoid robot systems and components will lead some excellent inventions of engineering, product and service. 3) Humanoid robot will be a research tool by itself for simulation, implementation and examination of the human algorithm of motions, behaviours and cognitions with corporeality.

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Японская компания Squse представила новую руку для роботов, основанную на искусственных мышцах. Достоинством своей разработки фирма называет аккуратность обращения руки с такими хрупкими вещами, как стекло или сырые куриные яйца.

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This paper focuses on the design of a 2-DOF exo-skeletal mechanism for the lateral and frontal abduction of the human upper limb. Major consideration was placed on the location of the center of rotation of the humerous with respect to the scapula.An experimen-tal procedure for the determination of the kinematics of the shoulder girdle area using a CMM machine is described. The motion of the center of rotation of the shoulder is obtained using a Geneva mechanism. Kine-matical analysis of the proposed hybrid mechanism is discussed and a validation study is presented. A 3D CAD model of the mechanism is presented and a FEM analysis illustrates the stability and durability of the portable mechanism. It is expected that the mechanism under development will help people suffering from muscle atrophy or to accelerate injured people recovery.

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