Mechanical design of a gravity-balancing wearable exoskeleton for the motion enhancement of human upper limb

Hsiang Chien Hsieh, Li Chien, Chao Chieh Lan

研究成果: Conference article同行評審

10 引文 斯高帕斯(Scopus)

摘要

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.

原文English
文章編號7139893
頁(從 - 到)4992-4997
頁數6
期刊Proceedings - IEEE International Conference on Robotics and Automation
2015-June
發行號June
DOIs
出版狀態Published - 2015 六月 29
事件2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
持續時間: 2015 五月 262015 五月 30

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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