Abstract
Powered exoskeletons can provide motion enhancement for both healthy and physically challenged people. Upper limb exoskeletons are required to have multiple degrees-of-freedom and can still produce sufficient force to augment the upper limb motion. The design using serial mechanisms usually results in a complicated and bulky exoskeleton that prevents itself from being wearable. This paper presents a new exoskeleton design aimed to achieve compactness and wearability. We consider a shoulder exoskeleton that consists of a parallel spherical mechanism with two slider crank mechanisms. The actuators can be placed on a stationary platform and attached closely to human body. Thus a better inertia property can be obtained while maintaining lightweight. Through the use of a gravity-balancing mechanism, the required actuator power becomes smaller and with better efficiency. A static model is developed to analyze and optimize the exoskeleton. Through illustrations of a prototype, the exoskeleton is shown to be wearable and can provide adequate motion enhancement of a human's upper limb.
| Original language | English |
|---|---|
| Article number | 7139893 |
| Pages (from-to) | 4992-4997 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 2015-June |
| Issue number | June |
| DOIs | |
| Publication status | Published - 2015 Jun 29 |
| Event | 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States Duration: 2015 May 26 → 2015 May 30 |
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All Science Journal Classification (ASJC) codes
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering
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Mechanical design of a gravity-balancing wearable exoskeleton for the motion enhancement of human upper limb. / Hsieh, Hsiang Chien; Chien, Li; Lan, Chao Chieh.
In: Proceedings - IEEE International Conference on Robotics and Automation, Vol. 2015-June, No. June, 7139893, 29.06.2015, p. 4992-4997.Research output: Contribution to journal › Conference article
TY - JOUR
T1 - Mechanical design of a gravity-balancing wearable exoskeleton for the motion enhancement of human upper limb
AU - Hsieh, Hsiang Chien
AU - Chien, Li
AU - Lan, Chao Chieh
PY - 2015/6/29
Y1 - 2015/6/29
N2 - Powered exoskeletons can provide motion enhancement for both healthy and physically challenged people. Upper limb exoskeletons are required to have multiple degrees-of-freedom and can still produce sufficient force to augment the upper limb motion. The design using serial mechanisms usually results in a complicated and bulky exoskeleton that prevents itself from being wearable. This paper presents a new exoskeleton design aimed to achieve compactness and wearability. We consider a shoulder exoskeleton that consists of a parallel spherical mechanism with two slider crank mechanisms. The actuators can be placed on a stationary platform and attached closely to human body. Thus a better inertia property can be obtained while maintaining lightweight. Through the use of a gravity-balancing mechanism, the required actuator power becomes smaller and with better efficiency. A static model is developed to analyze and optimize the exoskeleton. Through illustrations of a prototype, the exoskeleton is shown to be wearable and can provide adequate motion enhancement of a human's upper limb.
AB - Powered exoskeletons can provide motion enhancement for both healthy and physically challenged people. Upper limb exoskeletons are required to have multiple degrees-of-freedom and can still produce sufficient force to augment the upper limb motion. The design using serial mechanisms usually results in a complicated and bulky exoskeleton that prevents itself from being wearable. This paper presents a new exoskeleton design aimed to achieve compactness and wearability. We consider a shoulder exoskeleton that consists of a parallel spherical mechanism with two slider crank mechanisms. The actuators can be placed on a stationary platform and attached closely to human body. Thus a better inertia property can be obtained while maintaining lightweight. Through the use of a gravity-balancing mechanism, the required actuator power becomes smaller and with better efficiency. A static model is developed to analyze and optimize the exoskeleton. Through illustrations of a prototype, the exoskeleton is shown to be wearable and can provide adequate motion enhancement of a human's upper limb.
UR - http://www.scopus.com/inward/record.url?scp=84938243618&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84938243618&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2015.7139893
DO - 10.1109/ICRA.2015.7139893
M3 - Conference article
AN - SCOPUS:84938243618
VL - 2015-June
SP - 4992
EP - 4997
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
SN - 1050-4729
IS - June
M1 - 7139893
ER -