­Background The field of exoskeleton robotics is dominated by devices that utilize serial actuated architectures. A serial architecture is like a human’s limb anatomy, as it represents a series of linkages coupled by actuated joints. This architecture is used by most robotic devices but is not an ideal choice for many exoskeleton applications...

In robotic mechanisms, a parallel manipulator uses multiple actuated parallel linkages to synergistically control the motion of the end-effector. In comparison to the more common serial chain manipulator, parallel manipulators typically offer better end-effector performance in terms of precision, stiffness, velocity, and torque generation. Parallel...

Joint misalignment between a wearable robotic joint and its user can result in detrimental mechanical interference. For small degrees of joint misalignment, this interference can result in fatigue and friction-related user injuries, such as irritant contact dermatitis. Large degrees of joint misalignment can result in more severe injuries such as bruising,...