Coupled human–robot systems are used in applications such as rehabilitation, human augmentation, and haptics. The ergonomic and performance characteristics of these systems are fundamentally shaped by their underlying kinematic design, which comprises both topology (the interconnection of joints and links) and morphology (the geometric arrangement and spatial dimensions of a given topology). Together, these properties dictate how motion is constrained and how forces are transmitted within the human–robot coupled system.
This project investigates the kinematic synthesis and design of wearable human–robot coupling interfaces, focusing first on the mechanism structure that ensures ergonomic force transmission and motion compatibility. The work targets applications including hand exoskeleton interfaces and modular coupling architectures for wearable robots, providing a principled design framework that precedes and enables downstream ergonomic and embodiment optimization.