A Double Parallelogram Linkage Actuator With Human‐Inspired Shoulder Joints for Metaverse Avatar Motion Control

ABSTRACT The rapid development of the metaverse is bridging the gap between the physical and virtual realms, and metaverse wearables are accelerating this progress. Accurate replication of human motion mechanics is essential to enable intuitive and immersive interactions within virtual environments, underscoring the need for advanced devices that can faithfully emulate the anatomical movement patterns of the human body. This study presents a novel exoskeleton system featuring a double‐parallelogram linkage (DPL) to enhance avatar control in virtual environments. The device includes motor actuators and a DPL‐based scapula exoskeleton to enhance the motion range. The experimental results from inertial sensors show that the ParaSlide with the scapula exoskeleton achieved approximately 1.75 times the motion range under experimental conditions compared to a conventional 3 DOF exoskeleton model. Furthermore, the device was integrated with a virtual avatar to realize a variety of potential movements for sports applications. Due to its improved kinematic fidelity, this system suggests potential utility in movement representation for rehabilitation and specialized sports training applications.