Abstract:In this paper, from the aspect of kinematics, we reveal the physical significance of assistance for the assistive mechanism. Then, Manipulability Inclusive Principle (MIP) is proposed to evaluate assistive mechanism's assistive feasibility and assistive effect through the manipulability comparison between the assisted limb and slave-active-assistive mechanism. The optimization based on MIP can make the assistive mechanism realize better kinematical performance and assistance. The design and optimization of the… Show more
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