Dimensional synthesis of a lightweight shoulder exoskeleton
Journal
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Journal Volume
2015-August
Start Page
670
End Page
675
ISSN
21596247
21596255
ISBN (of the container)
9781479957361
9781467325752
9781424412648
9781424480319
9781467391078
1424412641
9781509020652
9781424428533
0780377591
9798350355369
Date Issued
2015
Author(s)
Abstract
Powered exoskeletons can provide motion enhancement for both healthy and physically challenged people. Compared with lower limb exoskeletons, upper limb exoskeletons are required to have multiple degrees-of-freedom and can still produce sufficient augmentation force. Designs using serial mechanisms usually result in complicated and bulky exoskeletons that prevent themselves from being wearable. This paper presents a new exoskeleton aimed to achieve compactness and wearability. We consider a shoulder exoskeleton that consists of two spherical mechanisms with two slider crank mechanisms. The actuators can be made stationary and attached side-by-side, close to a human body. Thus better inertia properties can be obtained while maintaining lightweight. The dimensions of the exoskeleton are synthesized to achieve maximum output force. Through illustrations of a prototype, the exoskeleton is shown to be wearable and can provide adequate motion enhancement of a human's upper limb.
Event(s)
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015
Subjects
Gravity-balancing
Spherical Mechanisms
Upper Limb Exoskeletons
Wearable Devices
Biological Organs
Degrees Of Freedom (mechanics)
Wearable Technology
Dimensional Synthesis
Gravity-balancing
Inertia Properties
Multiple Degrees Of Freedom
Slider-crank Mechanism
Spherical Mechanisms
Upper Limbs
Wearable Devices
Intelligent Mechatronics
Publisher
Institute of Electrical and Electronics Engineers Inc.
Description
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015. Busan; BEXCO. conference code:117136
Type
conference paper