TY - GEN
T1 - Dimensional synthesis of a lightweight shoulder exoskeleton
AU - Hsieh, Hsiang Chien
AU - Chien, Li
AU - Lan, Chao-Chieh
PY - 2015/8/25
Y1 - 2015/8/25
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84951098715&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84951098715&partnerID=8YFLogxK
U2 - 10.1109/AIM.2015.7222614
DO - 10.1109/AIM.2015.7222614
M3 - Conference contribution
AN - SCOPUS:84951098715
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 670
EP - 675
BT - AIM 2015 - 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015
Y2 - 7 July 2015 through 11 July 2015
ER -