Dimensional synthesis of a lightweight shoulder exoskeleton

Hsiang Chien Hsieh, Li Chien, Chao-Chieh Lan

研究成果: Conference contribution

4 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題AIM 2015 - 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
發行者Institute of Electrical and Electronics Engineers Inc.
頁面670-675
頁數6
ISBN(電子)9781467391078
DOIs
出版狀態Published - 2015 八月 25
事件IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015 - Busan, Korea, Republic of
持續時間: 2015 七月 72015 七月 11

出版系列

名字IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
2015-August

Other

OtherIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015
國家Korea, Republic of
城市Busan
期間15-07-0715-07-11

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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