Design of a Parallel Mechanism as an Assistance Tool for Thorax Orientation

Robotic assistance is improving the way that people think and/or live regardless of age or disability since it has been able to safely and effectively assist needy people while enhancing their own trust in and the dependence. This paper describes the design of four degrees of freedom (DOFs) parallel mechanism in order to orientate visual deficient away from obstacles. The proposed idea is designed to help people with low vision get better at avoiding obstacles on their own relies on an autonomous control. In fact, our model, strapped to the wearer's upper body, provides controlled torques to the trunk to modify the user posture by a well-defined angle. In this context, through this article, modeling and kinematic analysis were studied in addition to the study of singularities. Simulations were conducted to verify the validity of the proposed design while analyzing the workspace in the interest of verifying the absence of singular configurations.