Serial–Parallel Mechanism and Controller Design of a Robotic Brace for Dynamic Trunk Support

This article presents a robotic trunk support system that provides dynamic support and direct force/moment measurement, to assist trunk movement and train related core muscle groups. The proposed system has four degrees of freedom, three in the coronal plane and one in flexion/extension motion, which has a larger range than the existing robotic braces. The system was designed based on the serial–parallel mechanism. The serial module is responsible for the flexion/extension motion, and the parallel module is responsible for three degrees of freedom in the coronal plane. The kinematic modeling and singularity analysis of the parallel mechanism were discussed in detail. Then, the position control and force control of the serial control actuator were implemented, and the experiments were carried out to evaluate the performance of the controller. The effects on human body in force control were discussed and explained. A reduction in anterior muscles activation and an increase of dorsal muscles activation were exhibited when flexion torque was applied, while the trunk core muscle groups have opposite activation when extension torque was applied. The results indicate that the proposed robotic brace has potentials in the application to trunk core muscle groups training and corresponding rehabilitation.